• Journal of the Korean Society of Industry Convergence
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• v.22 no.5
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• pp.561-573
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• 2019

This study proposes a new approach to implement smart factory based on robot monitoring system for a small and medium sized enterprise. The simulator includes the forward kinematics and inverse kinematics analyzes of articulated robots. We also modeled the dynamics of the robot and made it possible to simulate it in the program. We studied the interface between the user and the monitoring programming system using the GUI environment of Windows OS, and it is configured to select the appropriate trajectory planning and control method. The reliability of simulator is illustrated by simulation test.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.4
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• pp.415-425
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• 2019

This study proposes a new approach to control Moving Stuff Action Through Iterative Learning robot with dual arm for smart factory. When robot moves object with dual arm, not only position of each hand but also contact force at surface of an object should be considered. However, it is not easy to determine every parameters for planning trajectory of the an object and grasping object concerning about variety compliant environment. On the other hand, human knows how to move an object gracefully by using eyes and feel of hands which means that robot could learn position and force from human demonstration so that robot can use learned task at variety case. This paper suggest a way how to learn dynamic equation which concern about both of position and path.

• Journal of Information Processing Systems
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• v.16 no.6
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• pp.1309-1323
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• 2020

Crowd evacuation simulation is an important research issue for designing reasonable building layouts and planning more effective evacuation routes. The social force model (SFM) is an important pedestrian movement model, and is widely used in crowd evacuation simulations. The model can effectively simulate crowd evacuation behaviors in a simple scene, but for a multi-obstacle scene, the model could result in some undesirable problems, such as pedestrian evacuation trajectory oscillation, pedestrian stagnation and poor evacuation routing. This paper analyzes the causes of these problems and proposes an improved SFM for complex multi-obstacle scenes. The new model adds navigation points and walking shortest route principles to the SFM. Based on the proposed model, a crowd evacuation simulation system is developed, and the crowd evacuation simulation was carried out in various scenes, including some with simple obstacles, as well as those with multi-obstacles. Experiments show that the pedestrians in the proposed model can effectively bypass obstacles and plan reasonable evacuation routes.

• Journal of Information Processing Systems
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• v.19 no.3
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• pp.370-376
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• 2023

Aiming at the problems of low image enhancement accuracy, long enhancement time and poor image quality in the traditional robot sequence motion image enhancement methods, an adaptive enhancement method for robot sequence motion image is proposed. The feature representation of the image was obtained by Karhunen-Loeve (K-L) transformation, and the nonlinear relationship between the robot joint angle and the image feature was established. The trajectory planning was carried out in the robot joint space to generate the robot sequence motion image, and an adaptive homomorphic filter was constructed to process the noise of the robot sequence motion image. According to the noise processing results, the brightness of robot sequence motion image was enhanced by using the multi-scale Retinex algorithm. The simulation results showed that the proposed method had higher accuracy and consumed shorter time for enhancement of robot sequence motion images. The simulation results showed that the image enhancement accuracy of the proposed method could reach 100%. The proposed method has important research significance and economic value in intelligent monitoring, automatic driving, and military fields.

• Journal of the Korea Society for Simulation
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• v.20 no.4
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• pp.105-114
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• 2011

The roadmap-based planning is a path planning method which is used widely for a goal-directed movement in Robotics and has been applied to the world of computer animation such as computer games. However it is unnatural for computer characters to follow the path planned by the roadmap method as it is performed in Robotics. Flocking which is used for realistic and natural movements in computer animation enables character's movement by using a few simple rules without planning unlike the roadmap method. However it is impossible to achieve a goal-directed movement with flocking only because it does not keep states. In this paper we propose a simulation method which combines planning based on the road map with reactive actions for natural movements along the path planned. We define and implement steering behaviors for a leader which are needed to follow the trajectory naturally by analysing characteristics of roadmap-based paths and for the rest of members which follow the leader in various manners by detecting obstacles. The simulations are performed and demonstrated by using the implemented steering behaviors on every possible combination of roadmap-based path planning methods and models of configuration spaces. We also show that the detection of obstacle-collisions can be done effectively because paths are planned in the configuration space in which a moving object is reduced to a point.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.4 no.1
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• pp.101-110
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• 2004

The robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, humans and robots need to be in close proximity to each other as much as possible. Moreover, it is necessary for their interactions to occur naturally. It is desirable for a robot to carry out human following, as one of the human-affinitive movements. The human-following robot requires several techniques: the recognition of the moving objects, the feature extraction and visual tracking, and the trajectory generation for following a human stably. In this research, a predictable intelligent space is used in order to achieve these goals. An intelligent space is a 3-D environment in which many sensors and intelligent devices are distributed. Mobile robots exist in this space as physical agents providing humans with services. A mobile robot is controlled to follow a walking human using distributed intelligent sensors as stably and precisely as possible. The moving objects is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the intelligent space. Uncertainties in the position estimation caused by the point-object assumption are compensated using the Kalman filter. To generate the shortest time trajectory to follow the walking human, the linear and angular velocities are estimated and utilized. The computer simulation and experimental results of estimating and following of the walking human with the mobile robot are presented.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2018.10a
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• pp.301-303
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• 2018

This paper describes a robot control system and control method of a human arm type redundant manipulator. The control of a redundant manipulator suffer from computational complexity and singularity problem because of numerical inverse kinematics. To deal with such problems, analytical methods for a redundant robot arm have been researched to enhance the performance of inverse kinematics. In this research, we propose a numerical control method and weighted pseudo inverse kinematics algorithm. Using this algorithm, it is possible to generate a trajectory passing through the singular points and intuitively move the elbow without regard to the end-effector pose. Performance of the proposed algorithm was verified by various simulations. It is shown that the trajectory planning and using this algorithm provides correct results near the singular points and can utilize redundancy intuitively. We proved this system's validity through field test.

• Journal of Advanced Navigation Technology
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• v.27 no.4
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• pp.365-373
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• 2023

Unmanned aerial vehicles are widely used in various fields, and real-time path replanning is a critical factor in enhancing the safety and efficiency of these devices. In this paper, we propose a real-time path replanning technique based on RRT* and LOSPO. The proposed technique first generates an initial path using the RRT* algorithm and then optimizes the path using LOSPO. Additionally, the optimized path can be converted into a trajectory that considers actual time and the dynamic limits of the aircraft. In this process, environmental changes and collision risks are detected in real-time, and the path is replanned as needed to maintain safe operation. This method has been verified through simulation-based experiments. The results of this paper make a significant contribution to the research on real-time path replanning for UAVs, and by applying this technique to various situations, the safety and efficiency of UAVs can be improved.

• Asia-pacific Journal of Multimedia Services Convergent with Art, Humanities, and Sociology
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• v.8 no.2
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• pp.33-40
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• 2018

There are lots of literature about connected car system from industry and academia. The connected car is a smart car integrated with IT technology that is connected to people, vehicles and traffic management systems. It is important to V2I (vehicle to infrastructure) communication which is the connection between the vehicle and the infrastructure. CIM (cooperative intersection management) is a device to manage the communication between vehicle and infrastructure. In this paper, we analyze two intelligent vehicle control methods using CIM at non-signalized intersections. In the first method, a vehicle to pass through intersection needs to reserve a resource of intersection. In the second method, trajectory patterns on pre-planned vehicles are classified to pass through intersection. We analyze case studies of two methods to be implemented by DP(dynamic programming) and ACO(ant colony optimization) algorithms. The methods can be reasonably improved by placing importance on vehicles or controlling speeds of vehicles.

• Journal of Korean Academic Society of Home Health Care Nursing
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• v.3
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• pp.86-97
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• 1996

The traditonal inpatient acute hospital setting is organized primarily for the intensive management of disease, but not well-suited for continuity of care for the chronically ill patients after being discharged from hospital. For the planning of the continuity of care, firstly, it is necessary to assess the home care needs of the discharged pateints in the context of the nursing diagnosis. Therefore, this study is designed to identify the home nursing care need trajectory of the patients with chronic illness after discharged from one of the the General Hospitals in Seoul, Korea. The subjects are the patients with chronic illness such as stroke, musculoskeletal disease, hypertension, cancer etc., in average age of 52. 2 years old. The findings of this study are as follows : 1) The limitaion of ADL has been constantly facing to the subjects and has not been changed 4 weeks after being discharged. And the sense of with-drawal was getting worse at 4th weeks than the 1st week after being discharged. 2) The lists of the patient's problems are the impairment of mobility, elimination pattern, inactivity, impairment of skin integrity, ineffective airway clearance, and potential anxiety, self concept deficit, ineffective family coing, etc. Those problems were diminished in quantity at the first week after discharged, but at the 4th week, those problems were getting worse. 3) The need of specialized nursing care such as tube feeding, ostomy care, $O_2$ inhalation, IV therapy, teaching and exercise are considered as the most consisting problems facing to the subjects. 4) In general, the chronically ill patients and their caregivers have not been adapted well even at the 4th weeks after being discharged. 5) Considering those findings, the basic care for patients should be given and the trainging for process of the adaptation after discharged should be encouraged prior being discharged from hostital. For this suggestion, the systematic discharge planning should be carried and the hospital based home nursing model should be implemented at the general hospital for the chronically ill patients.