• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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• pp.349-351
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• 2007

A concept of the semi-autonomous tele-weeding-system which performs weeding tasks through co-operation of human and machine intelligence is proposed. The tele-weeding system consists of weeding robot, communication networks and operating server. The images of plants taken by the weeding robot are transferred through the communication networks to the human operator. Positions of the weeds are indicated at the operating host by the operator and transferred back to the weeding robot. Such position informations are converted to the world space and the weeding is done based on the robot intelligence. Feasibility of such concept has been tested through development of a laboratory model of the system.

• 대한인간공학회지
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• 제8권1호
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• pp.41-46
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• 1989

The purpose of this study is to improve robot motion control in teaching and operating the expert system/world coordinate system (TOES/WCS) constructed in the previous study. The major contribution of this study is reduction of the inaccuracy in coordinated reading and the movement time of robots in macro motion control. This study also reduces undesirable time of micro motion control by using an unit control (UC) and a micro unit control (MUC) in micro motion control.

• 전기전자학회논문지
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• 제27권4호
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• pp.610-616
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• 2023

본 논문에서는 Robot Operating System(ROS) 기반의 모바일 매니퓰레이터(Manipulator)를 이용한 무인 배송 로봇 시스템을 구현하고 시스템 구현을 위해 사용된 기술에 대해 소개한다. 로봇은 엘리베이터를 이용해 건물 내부에서 자율주행이 가능한 모바일 로봇과 진공 펌프를 부착한 Selective Compliance Assembly Robot Arm(SCARA)-Type의 매니퓰레이터로 구성된다. 로봇은 매니퓰레이터에 부착된 카메라를 이용하여 이미지 분할과 모서리 검출을 통해 배송물을 들어올리기 위한 위치와 자세를 결정할 수 있다. 제안된 시스템은 스마트폰 앱 및 ROS와 연동된 웹서버를 통해 배송 현황을 조회하고 로봇의 실시간 위치를 파악할 수 있도록 사용자 인터페이스를 가지고 있으며, You Only Look Once(YOLO)와 Optical Character Recognition(OCR)을 통해 배송 스테이션에서 배송물과 주소지를 인식한다. 아울러 4층 건물 내부에서 진행한 배송 실험을 통해 시스템의 유효성을 검증하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.518-521
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• 1995

In this paper, a learning control problem is formulated for cooperating multiple-robot manipulators with uncertain system parameters. The commonly held object is also assumed to be unknown and the multiple-robots themselfs experience uncertain operating conditions such as link parameters, viscous friction parameters, suctions, actuator bias, and etc. Under these conditions, the learning controllers designed for learning of uncertain parameters and robot control inputs for multiple-robot systems are shown to drive the multiple-robot manipulators to follow the desired Cartesian trajectory with the desired internal forces to the unknown object.

• 한국태양에너지학회 논문집
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• 제32권spc3호
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• pp.282-288
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• 2012

Proton exchange membrane fuel cell (PEMFC) is the most promising energy source for the robot applications because it has unique advantages such as high energy density, no power drop during operating, and easy to make compact size. However, PEMFC has intrinsic disadvantages which are delay to start up and difficulty to correspond drastic load changes. These disadvantages can be compensated by hybrid operating with a Li-poly battery. This study is focus to build and understand the hybrid system for the robot system. In this study, we build the PEMFC hybrid system using EOS-320 PEMFC stack, Li-poly battery and G-Philos FDX1-250BU dc-dc converter. The hybrid system is accurately monitored by CAN and RS485. The system was studied under two conditions such as non-loaded and loaded operating conditions. The results show that the system has delay to start up without hybrid operating and it can be compensated with the hybrid operating.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1992년도 하계학술대회 논문집 A
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• pp.422-424
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• 1992

In this paper, we are designed a hierachical system controller and builed a robot system for high precision assembly consisting in multi-arms and multi-sensor. For the control of a multi-arms robot system, the robot system are consisted of cell controller, station controller and device. The Operating System of a cell controller is VxWorks for real-time multi-processing. Using by C-language, we are proposed a multi-arms robot control language based a RCCL, and this control language is partially implemented and tested in multi-robot control system.

• 한국해양공학회지
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• 제29권5호
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• pp.380-385
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• 2015

In the development of an underwater construction robot, the reliability of the operating system is the most important issue because of its huge maintenance cost, especially in a deep sea application. In this paper, we propose a new redundant architectural design for the hydraulic control system of an underwater construction robot. The proposed architecture consists of dual independent modular redundancy management systems linked with a commercial profibus network. A cold standby redundancy management system consisting of a preprocessing switch circuit is applied to the signal network, and a hot standby redundancy management system is adapted to utilize two main controllers.

• 한국태양에너지학회:학술대회논문집
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• 한국태양에너지학회 2012년도 춘계학술발표대회 논문집
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• pp.229-233
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• 2012

Proton exchange membrane fuel cell (PEMFC) is the most promising energy source for the robot applications because it has unique advantages such as high energy density, no power drop during operating, and easy to make compact size. However, PEMFC has intrinsic disadvantages which are delay to start up and difficulty to correspond drastic load changes. These disadvantages can be compensated by hybrid operating with a Li-poly battery. This study is focus to build and understand the hybrid system for the robot system. In this study, we build the PEMFC hybrid system using EOS-320 PEMFC stack, Li-poly battery and G-Philos FDX1-250BU dc-dc converter. The hybrid system is accurately monitored by CAN and RS485. The system was studied under two conditions such as non-loaded and loaded operating conditions. The results show that the system has delay to start up without hybrid operating and it can be compensated with the hybrid operating.

• 한국산업융합학회 논문집
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• 제25권5호
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• pp.853-859
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• 2022

In this study, we analyzed the instantaneous trajectory generation capability and target arrival rate of a mobile robot by changing the parameter of the TEB (Timed Elastic Band) Local Planner among local planners that affect the instantaneous obstacle avoidance ability of the mobile robot using ROS (Robot Operating System) simulation and real experience. As a result, we can expect a decrease in the target arrival time of the mobile robot through a decrease in the parameter values of the TEB Local Planner's min_obstacle_dist, inflation_dist, and penalty_epsilon. However, if this parameter is reduced too much, the risk of obstacle collision of the moving robot is increases, so it is important to combine the appropriate values to construct the parameter.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.518-523
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• 1988

A Teaching and Operating Expert System (TOES) was designed in order to perform a task effectively which is inaccessible to man. Once an error occurs in the middle of the task operation, the automatic mode is converted into a manual mode. After recovering the error by the manual mode, the manual mode should be converted into the automatic mode. It was necessary to improve the manual mode in order to increase the availability of a man-robot system, a part of the human interface technique. Therefore, the Error Recovery Expert System must be constructed and developed.