• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.11a
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• pp.195-196
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• 2010

• Journal of the Korea Society for Simulation
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• v.28 no.2
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• pp.149-158
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• 2019

This paper introduces an integrated Modeling & Simulation framework for the efficient development of the rescue robot which rescues a wounded patients or soldiers and disposes a dangerous objects or explosive materials in the battlefields and disastrous environments. An integrated M&S(Modeling & Simulation) framework would have enabled us to perform the dynamic simulation program GAZEBO based Software-in-the-Loop Simulation(SILS) which is to replacing the robot platform hardware with a simulation software. An integrated M&S framework would help us to perform designing robot and performance validation of robot control results more efficiently. Furthermore, Tele-operation performance in the unstructured environments could be improved. We review a case study of applying an integrated M&S framework tool in validating performance of mobility stabilization control, one of the most important control strategy in the rescue robot.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1179-1184
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• 2007

An unmaned surveillance robot consists of rifle, laser receiver, thermal imager, color CCD camera, and laser illuminator. A human guard can be replaced with such a robot to take care dangerous surveillance tasks. Currently most of surveillance robots are mounded at a fixed post to take care of surveillance tasks. In order to watch blind areas, it is necessary to modify such a surveillance robot to become a mobile robot. In this paper, simulation based design procedure of mobile surveillance robot has been introduced. 3D CAD geometry model has been produced using Pro-Engineer. Required pen and tilt motor capacities have been analyzed using ADAMS inverse dynamics analysis. A target tracking and stabilization control algorithm of the mobile surveillance robot has been developed in order to stabilize the system from the motion of the vehicle which experiences the rough terrain. ADAMS-Matlab co-simulation has been also carried out to validate the proposed target tracking and stabilization algorithm.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2365-2368
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• 2001

This paper describes a fuzzy steering controller for an autonomous mobile robot with MR sensor. Using the magnetic field($B_{x}$, $B_{y}$, $B_{z}$) obtained from the MR sensor, we designed fuzzy controller for driving on the road center. Fuzzy rule base was built to magnetic field($B_{x}$, $B_{y}$, $B_{z}$). To develop an autonomous mobile robot simulation program, we have done modeling MR sensor, dynamic model of mobile robot and coordinate transformation. A computer simulation of the robot (including mobile robot dynamics and steering) was used to verify the steering performance of the mobile robot controller using the fuzzy logic. Good results were obtained by computer simulation. So, we confirmed the robustness of the proposed fuzzy controller by computer simulation. Also, we know that proposed control algorithm was applied to real autonomous mobile robot.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.337-340
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• 1986

A software package CARDS for general purpose robot design, control, and simulation has been developed and is presented here. CARDS (Computer Aided Robot Design and Simulation) consists of a collection of standardized subroutine modules that carry out typical kineamatic, dynamic, and control computations so that the user only needs to write a main program that further defines a particular robot configuration and the task to be performed. It provides users a complete simulation environment, so that it will be a valuable engineering tool for mechanical designers as well as electric control designers.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.10
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• pp.798-807
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• 2003

We propose a blind mobile robot force control algorithm that uses force information as a guidance toward to the goal position. Based on the mobile robot dynamics, the control law is formed from explicit force errors. Simulation studies are conducted based on the kinematics and the dynamics of the mobile robot. Simulation results show that good force tracking can be achieved. In order to confirm simulation results, experiments are performed. The robot is commanded to follow unknown environment with maintaining a certain desired force. Experimental results show that the blind mobile robot successfully maintains contact with a regulated desired force and arrives at the goal position.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.105.5-105
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• 2001

This paper describes a fuzzy steering controller for an autonomous mobile robot with MR sensor. Using the magnetic field(Bx, By, Bz) obtained from the MR sensor, we designed fuzzy controller for driving on the road center. Fuzzy rule base was built to magnetic field(Bx, By, Bz). To develop an autonomous mobile robot simulation program, we have done modeling MR sensor, dynamic model of mobile robot and coordinate transformation. A computer simulation of the robot including mobile robot dynamics and steering was used to verify the steering performance of the mobile robot controller using the fuzzy logic Good results were obtained by computer simulation. So, we confirmed the robustness of the proposed fuzzy controller by computer ...

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.332-336
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• 1992

We describe about the graphic simulation system which supports the determination of efficient multi-robot motions during cooperation. For the construction of the simulation software for multi-robot motions, two problems are presented. First problem is that all the robot motions must be determinded using both the desired object motions and the holonomic constraints with the object. To find the robot motions combined with the various object motion path, the robot motions are derived from the desired object path instead of a master robot path. Therefore robot motions can be easily modifiable with the various object motions. This type of motion determination is different from that of the master-slaves method using the master robot motions. The other is that the developments of robot application softwares need a heavy cost when the participated robots or the tasks given to the robots are changed. Based on object-oriented programming paradigm, we present useful software objects describing robot application programming environment. The object-oriented programming paradigm increases the software reusability, reliability, and extensibility, and also provides the structual concepts to cope with the various demands of robot application programming.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.4
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• pp.332-340
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• 2013

This paper reports a programming toolkit for implementing localization and navigation of a mobile robot both in real world and simulation. Many of the previous function libraries are difficult to use because of their complexity or lack of usability. The proposed toolkit consist of functions for dead reckoning, motion model, measurement model, and operations on directions or heading angles. The dead reckoning and motion model deals with differential drive robot and bicycle type robot driven by front wheel or rear wheel. The functions can be used for navigation in both real environment and simulation. To prove the feasibility of the toolkit, simulation results are shown along with the results in real environment. It is expected the proposed toolkit is used for test of algorithms for mobile robot navigation such as localization, map building, and obstacle avoidance.

• Journal of Korean Institute of Industrial Engineers
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• v.11 no.1
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• pp.21-32
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• 1985

Presented in this paper is a procedure of developing graphical simulation software for planning robot welding processes. Welding is by far the highest application area for industrial robots, and it has been in great need of such a simulator in designing robot work cells, in justifying the economics of robot welding and in planning robotized welding operations. The model of a robot welding cell consists of four components: They are an welding structure which is a collection of plates to be welded, a positioner to hold the welding structure, a robot with a weld torch, and a set of welding lines (in case of arc welding). Welding structure is modeled by using the reference plane concept and is represented as boundary file which is widely used in solid modeling. Robot itself is modeled as a kinematic linkage system. Also included in the model are such technical constraints as weaving patterns and inclination allowances for each weld joint type. An interactive means is provided to input the welding structure and welding lines on a graphics terminal. Upon completion of input, the program displays the welding structure and welding lines and calculates the center of mass which is used in determining positioner configurations. For a given positioner and robot configuration, the welding line segments that can be covered by the robot are identified, enabling to calculate the robot weld ratio and cycle time. The program is written in FORTRAN for a VAX computer with a Tektronix 4114 graphic terminal.