• Journal of Institute of Control, Robotics and Systems
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• v.19 no.11
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• pp.1036-1042
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• 2013

In this paper, an elderly assistance system is developed based on Xenomai, a real-time development framework cooperating with the Linux kernel. A Kinect sensor is used to recognize the behavior of the elderly and A-star search algorithm is implemented to find the shortest path to the person. The mobile robot also generates a trajectory using a digital convolution operator which is based on a Bezier curve for smooth driving. In order to follow the generated trajectory within the control period, we developed real-time tasks and compared the performance of the tracking trajectory with that of non real-time tasks. The real-time task has a better result on following the trajectory within the physical constraints which means that it is more appropriate to apply to an elderly assistant system.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.6
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• pp.497-502
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• 2015

One of the goals in the field of mobile robotics is the development of personal service robots for the elderly which behave in populated environments. In this paper, we describe a security robot system and ongoing research results that minimize the risk of the elderly and the infirm to access an area to enter restricted areas with high potential for falls, such as stairs, steps, and wet floors. The proposed robot system surveys a potential falling area with an equipped laser scanner sensor. When it detects walking in elderly or infirm patients who in restricted areas, the robot calculates the velocity vector, plans its own path to forestall the patient in order to prevent them from heading to the restricted area and starts to move along the estimated trajectory. The walking human is assumed to be a point-object and projected onto a scanning plane to form a geometrical constraint equation that provides position data of the human based on the kinematics of the mobile robot. While moving, the robot continues these processes in order to adapt to the changing situation. After arriving at an opposite position to the human's walking direction, the robot advises them to change course. The simulation and experimental results of estimating and tracking of the human in the wrong direction with the mobile robot are presented.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.05a
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• pp.662-667
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• 2005

Nonlinear dynamics of active piezolaminated plates are investigated with respect to the thermopiezoelastic behaviors. For largely deformed structures with small strain, the incremental total Lagrangian formulation is presented based on the virtual work principles. A multi field layer wise finite shell element is proposed for assuring high accuracy and non-linearity of displacement, electric and thermal fields. For dynamic consideration of thermopiezoelastic snap through phenomena, the implicit Newmark's scheme with the Newton-Raphson iteration is implemented for the transient response of various piezolaminated models with symmetric or eccentric active layers. The bifurcate thermal buckling of symmetric structural models is first investigated and the characteristics of piezoelectric active responses are studied for finding snap through piezoelectric potentials and the load path tracking map. The thermoelastic stable and unstable postbuckling, thermopiezoelastic snap through phenomena with several attractors are proved using the nonlinear time responses for various initial conditions and damping loss factors. Present results show that thermopiezoelastic snap through phenomena can result in the difficulty of buckling and postbuckling control of intelligent structures.

• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2329-2331
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• 2004

본 논문에서는 이동 로봇의 경로 추종 제어를 위해 웨이블릿 신경 회로망에 기반한 예측 제어기의 설계 방법을 제안하고자 한다. 제안한 방법에 의해 설계된 제어기는 이동 로봇의 동특성을 예측하기 위한 웨이블릿 신경회로망 기반 예측기와 예측 제어기로 구성된다. 제안한 방법에서 모델링 및 제어기로 적용되는 신경 회로망의 장점과 우수한 해석 능력을 가진 웨이블릿 변환의 장점을 결합한 웨이블릿 신경 회로망을 이용하여 이동 로븟의 동특성을 모델링하여 예측 제어기에서의 비용 함수 최소화에 적용한다. 경로 추종 제어의 목적인 이동 로봇의 실제 출력과 예측기의 출력 오차를 최소화하기 위해 웨이블릿 신경 회로망의 파라미터 동정 및 예측 제어기는 경사 하강법을 이용하여 학습한다. 마지막으로 컴퓨터 모의 실험을 통하여 제안한 예측 제어 시스템의 적용가능성 및 효율성을 검증하고자 한다.

• Proceedings of the IEEK Conference
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• 2008.06a
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• pp.937-938
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• 2008

Spotlight system has been made use of art works on stage such as musical and performance etc. Currently, spotlight is controlled manually through the planned path in advance. Therefore, automatic control system is necessary for manipulating spotlight on stage. In this paper, we propose the system that detects to track the multiple objects and classifies those objects, also selects an object of those ones. The proposed method can be applied to the interactive stage spotlighting system(ISSS).

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.392-395
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• 1995

This paper presents a time efficient method for determining a sequence of locations of a mobile manipulator that facilitates tracking of continuous path in cluttered environment. Given the task trajectory in the form of octree data structure, the algorithm performs characterization of task space and subsequent multistage optimization process to determine task feasible locations of the robot. Firstly, the collision free portion of the trajectory is determined and classified according to uniqueness domains of the inverse kinematics solutions. Then by implementing the extent of task feasible subspace into an optimization criteria, a multistage optimization problem is formulated to determines the task feasible locations of the mobile manipulator. The effectiveness of the proposed method is shown through a simulation study performed for a 3-d.o.f. manipulator with generic kinematic structure.

• Proceedings of the IEEK Conference
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• 1999.11a
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• pp.629-632
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• 1999

In this paper, color coordinate system transformation based visual servo controller has been considered. Mobile robot always has a position error and an orientation error resulted from wheel slipping etc.. Even more, the errors have accumulative properties. So feedback from environments is important. In this paper, by using color model faster land mark extraction can be achieved. And the global position and the orientation of mobile robot can be known by only two land marks positions in image coordinate system. Finally, the adoption of visual information in path tracking problem makes visual servo control.

• Journal of the Institute of Electronics Engineers of Korea TE
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• v.42 no.4
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• pp.33-40
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• 2005

This paper represents the stable path recognition by the ultrasonic sensor which gathers navigation environments and the monocular image sensor which generates the self localization information of mobile robot. The proposed ultrasonic sensor and vision camera system recognizes the target and extracts parameters for generating the world map and self localization. Therefore, this paper has developed an indoor mobile robot and has stably demonstrated in a corridor environment.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.10a
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• pp.144-147
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• 2000

Controller refinement scheme to improve the performance of a conventional system automatically in frequency domain is proposed. The controller automatic tuning method features using experimental frequency responses of the conventional closed-loop system the conventional controller, and the improved closed-loop system, instead of poorly modeled plant due to non-linearities and disturbances. The improved closed-loop system characteristics is automatically acquired by the conventional closed-loop system characteristics and the proposed performance index in system bandwidth. And the proper controller is realized by least squares approximation in frequency domain. To testify the usefulness of the approach, the path tracking control of robot arm is performed. Experimental results and analytic results are well-matched.

• Journal of Korea Society of Digital Industry and Information Management
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• v.7 no.4
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• pp.67-73
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• 2011

We developed a RFID system to effective management and monitoring for school assert. In this paper, RFID system implemented a two way which are control to 13.56MHz for in/outbound order and 2.45GHz for positioning tracking and monitoring. We also make up the contents and database utilizing the labview tool in pc. In addition, the developed system can obtain simultaneously the information from several RFID reader at real time so that it is possible to track the position system, the path moving and the status of asserts in the school. Especially, 2.45GHz system has a function to prevent a assert theft. It is observed from the various and practical experiment that the proposed system is useful for assert management and monitoring.