• Journal of Electrical Engineering and Technology
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• 제9권1호
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• pp.352-362
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• 2014

In this paper, a fuzzy logic controller is designed for a DC motor which can be used for navigation control of mobile robots. These mobile robots can be used for agricultural, defense and assorted social applications. The robots used in these fields can reduce manpower, save human life and can be operated using remote control from a distant place. The developed fuzzy logic controller is used to control navigation speed and steering angle according to the desired reference position. Differential drive is used to control the steering angle and the speed of the robot. Two DC motors are connected with the rear wheels of the robot. They are controlled by a fuzzy logic controller to offer accurate steering angle and the driving speed of the robot. Its location is monitored using GPS (Global Positioning System) on a real time basis. IR sensors in the robot detect obstacles around the robot. The designed fuzzy logic controller has been implemented in a robot, which depicts that the robot could avoid obstacle as well as perform its operation efficiently with remote online control.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.230-234
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• 1989

This paper presents the design of a prototype robot and architecture of a distributed control system. The robot, named as KAEROT, has been developed for the purpose of the reduction of personal radiation exposure and the remote maintenance tasks in nuclear facilities. The mobile system with robotic manipulator has been designed to go up and down stairs. For the dextrous handling, this manipulator will be designed as a redundant type to act like a human arm. Manipulator control system is to be extended easily for further usage with a modular architecture to get independency and reliability by minimizing EMI effects.

• Journal of Biosystems Engineering
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• 제32권5호
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• pp.339-347
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• 2007

A hexapod walking robot had been developed for gathering information in the field. The developed robot was $260{\times}260{\times}130$ ($W{\times}L{\times}H$, mm) in size and 14.7 N in weight. The legs had nineteen degrees of freedom. A leg has three rotational joints actuated by small servomotors. Two servomotors placed at ankle and knee played the roles of vertical joint for up and down motions of the leg and the other one placed at coxa played the role of horizontal joint for forward and backward motions. In addition, a servomotor placed at thorax between the front legs and the middle legs played the role of vertical joint for pumping the two front legs to climb stair or inclination. Walking motion of the robot was executed by tripod gait. The robot was controlled by manual remote-controller communicated by an infrared ray. Two controllers were equipped to control the walking of the robot. The sub-controller using PIC microcomputer (Microchips, PIC16F84A) received the 16 bit command signal from the manual remote controller, decoded it to 8bit and transmitted it to the main microcomputer (RENESAS, SH2/7045), which controlled the 19 servomotors using the PWM command signals. Walking speeds were controlled by adjusting the period of command cycle and the stride. Forward walking speed were within 100 cm/min to 300 cm/min. However, experimental walking speed had the error of 4-40 cm/min to compare with the theoretical one, because of slippage of the leg and the circular arc motion of servomotor of coxa.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2002년도 춘계학술대회 및 임시총회
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• pp.105-108
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• 2002

This paper represents the mobile robot control system remote controlled by PDA(personal digital assistance). So far, owing to the development of internet technologies, lots of remote control methods through internet have been proposed. To control a mobile robot through internet and guide it under unknown environment, We propose a control method activated by PDA. In a proposed system, PDA acts as a user interface to communicate with notebook as a controller of the mobile robot system using TCP/IP protocol, and the notebook controls the mobile robot system. The information about the direction and velocity of the mobile robot feedbacks to the PDA and the PDA send new control method produced from the fuzzy inference engine.

• 한국감성과학회:학술대회논문집
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• 한국감성과학회 2000년도 춘계 학술대회 및 국제 감성공학 심포지움 논문집 Proceeding of the 2000 Spring Conference of KOSES and International Sensibility Ergonomics Symposium
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• pp.301-305
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• 2000

The present study is part of the Special Research Project for the Construction of a Kansei Sensory Evaluation Model that is currently underway at the University of Tsukuba. In this study, a robot was operated by remote control at an actual art museum as part of a preliminary experiment. The results obtained therefrom were used to consider how people might view exhibits. In a previous study, a standard lens and s wide-angle lens were used to analyze differences in sensory-based movements, while VRML was used to analyze differences in these movements between a virtual and an actual museum. In the present study, the time delay in remote operation, which is currently unavoidable, placed some restrictions on the degree of freedom with which exhibits could be viewed, but it was apparent that sensory evaluation could be possible depending on the search behavior and viewing time. Furthermore specific viewing behaviors using the robot were observed, suggesting that new Kansei sensory perceptions were derived from these behaviors.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.478-478
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• 2000

In this paper, presents the design of mobile field robot controlled by microcomputer. The computer works as the supervisory system for decision making and sending command to control the field robot. An information from encoder, infrared sensors using for control task of the robot that can be interconnected with the computer through the serial communication RS422 standard. In this case, the user can design the program algorithm base on microcomputer in order to control and define the routing of the mobile robot. Moreover, the robot can be installed other equipment fer collect data such as picture, sound, temperature etc., in order to working in the dangerous area.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 하계종합학술대회 논문집 Ⅲ
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• pp.1561-1564
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• 2003

Intelligent Wearable Module is intelligent system that arises when a human is part of the feedback loop of a computational process like a certain control system. Applied system is mobile robot. This paper represents the mobile robot control system remote controlled by Intelligent Wearable Module. So far, owing to the development of 802.l1b technologies, lots of remote control methods through internet have been proposed. To control a mobile robot through internet and guide it under unknown environment. The information about the direction and velocity of the mobile robot feedbacks to the PDA and the PDA send new control method produced from the combination of Neuro and Hierarchical Fuzzy Algorithm

• 한국지능시스템학회논문지
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• 제21권3호
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• pp.335-340
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• 2011

본 논문에서는 이동로봇의 원격 제어를 위해 조이스틱 혹은 버튼식 원격제어 방법 대신 아이폰을 사용한 체감형 인터페이스 기반의 원격 제어를 제시한다. 제안된 연구는 아이폰의 가속도센서를 사용하여 로봇을 제어하기 때문에 아이폰을 자동차의 핸들로 응용하여 무선으로 로봇 제어가 가능하다. 아이폰을 이용하기 위해 아이폰의 가속도 센서를 측정 및 분석하고 디지털 필터를 사용하여 가속도 센서 값을 안정화 시켰다. 이동 로봇과 아이폰간의 통신을 위해 블루투스 방법이 채택 되었다. 본 연구에서는 네가지의 통신 방법을 제시하였고 이 중 가장 적절한 통신방법을 택하였다. 실험 결과로서 제안된 아이폰 기반의 체감형 인터페이스는 쉽고 편리하게 이동 로봇의 원격 제어를 가능하게 해주었다.

• 한국지능시스템학회논문지
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• 제12권4호
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• pp.379-384
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• 2002

본 논문은 PDA(개인용 휴대용 단말기)를 이용하여 원격제어하는 이동로봇 시스템을 구현하였다. 현재 급속도로 발전하는 인터넷 개발 기술 때문에 이를 기반으로 하는 많은 원격 제어 방법들이 제안되어 왔다. 주변환경을 인지 못하는 상황하에서 안내와 인터넷을 통한 이동 로봇 제어를 위하여 PDA를 활용한 제어를 제안한다 이에 제안하는 시스템은 사용자 인터페이스인 PDA와 이동로봇의 컨트롤러인 노트북과 통신을 한다. 이를 위해 TCP/IP 프로토콜을 이용한다. 회전각도 조절방향과 속도에 대한 정보가 PDA에서 이동로봇에 피드백 되며 퍼지 추론엔진으로부터 출력된 새로운 제어값을 PDA가 보내게 된다

• 제어로봇시스템학회논문지
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• 제13권2호
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• pp.86-92
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• 2007

This paper presents the development of fire-fighting and rescue robot for Outdoor Environment. In the procedure of this development, we follow Target Oriented Design (TOD) which is recognized as the systematic methodology to design a system by specifying the target clearly. For some real fire fighting tasks (e.g. tasks in shopping street and a market), narrow road make it difficult for existing fire engine to access the firing place. On the other hand, for dangerous tasks (e.g. gasoline station and a storehouse) the explosive materials make it impossible for fire-fighters to access the firing place. Moreover, the smoke and the high-temperature caused by fire make fire fighting difficult. In this situation, the solution is to develop the fire-fighting and rescue robot. TOD is performed firstly by analyzing the environment properties of fro place and the demanded tasks and the fire-fighting and rescue robot is manufactured. For safety, the fire fighting robot should be controlled by remote operation to keep the operator away from the fire, and the control system is divided into three parts: the robot controllers, controller for remote operating device and wireless communication system. We have selected and developed appropriate hardware and software for each part of control system with considering TOD. As a result, the fire-fighting robot functions correctly and the performance and usefulness of our control architecture is validated by successfully performing some fire-fighting tasks.