• Proceedings of the Korea Society for Industrial Systems Conference
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• 1998.03a
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• pp.125-128
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• 1998

다양한 산업분야의 생산공장에서 주로 활용되고 있는 6축 수직다관절보트은 대부분 단순반복운동을 하고 있다. 단순반복중 point-to-point제어보다 품질을 요하는 tracking -to-trajectory제어를 위한 분산학습제어에 대하여 연구하고자 한다. 관련 학습제어기법으로는 선형누적기법과 간접적응기법이 있다. 두 기법의 차이는 시스템의 정보의 유무이며 시스템의 주어진상황에 따라 두 기법중 하나를 선택할 수 있다. 간접적응형 기법은 zero tracking error를 보장받기 위해서 보다 많은 반복을 요하는 경비를 부담하여야 한다.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.8
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• pp.810-816
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• 2007

A security robot system named EGIS-SR is a mobile security robot through one of the new growth engine project in robotic industries. It allows home surveillance through an autonomous mobile platform using onboard cameras and wireless security sensors. EGIS-SR has many sensors to allow autonomous navigation, hierarchical control architecture to handle lots of situations in monitoring home surveillance and mighty networks to achieve unmanned security services. EGIS-SR is tightly coupled with a networked security environment, where the information of the robot is remotely connected with the remote cockpit and patrol man. It achieved an intelligent unmanned security service. The robot is a two-wheeled mobile robot and has casters and suspension to overcome a doorsill. The dynamic motion is verified through $ADAMS^{TM}$ simulation. For the main controller, PXA270 based hardware platform based on linux kernel 2.6 is developed. In the linux platform, data handling for various sensors and the localization algorithm are performed. Also, a local path planning algorithm for object avoidance with ultrasonic sensors and localization using $StarGazer^{TM}$ is developed. Finally, for the automatic charging, a docking algorithm with infrared ray system is implemented.

• IEMEK Journal of Embedded Systems and Applications
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• v.3 no.2
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• pp.74-81
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• 2008

This paper describes a low-cost omnidirectional camera system designed for the intruder detection capability of a security robot. Moving targets on sequential images are detected first by an adaptive background subtraction technique, and the targets are identified as intruders if they fail to enter a password within a preset time. A warning message is then sent to the owner's mobile phone. The owner can check scene pictures posted by the system on the web. The system developed worked well in experiments including a situation when the indoor lighting was suddenly changed.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2010.04a
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• pp.143-144
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• 2010

Nowadays, sounding is done by either manually on a boat or through the use of survey. These existing measures are considered to be very inefficient. they are not only greatly limited by environmental circumstances but also requires much of time, expenses, and manpower. Therefore, there emerges a greater need for a new sounding system which will allow us to measure the depth of water, less affected by financial and environmental restrictions, within a short period of time. This is a base study for developing an automatic sounding system, which will enhance the advantages of manned sounding and unmanned sounding, raise the effectiveness and economic efficiency, and acquire more precise data.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.3
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• pp.208-217
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• 2016

This paper describes a simulation method to generate sensor measurements for location estimation of an underwater robot. Field trial of a navigation method of an underwater robot takes much time and expenses and it is difficult to change the environment of the field trial as desired to test the method in various situations. Therefore, test and verification of a navigation method through simulation is inevitable for underwater environment. This paper proposes a method to generate sensor measurements of range, depth, velocity, and attitude taking the uncertainties of measurements into account through simulation. The uncertainties are Gaussian noise, outlier, and correlation between the measurement noise. Also, the method implements uncertainty in sampling time of measurements. The method is tested and verified by comparing the uncertainty parameters calculated statistically from the generated measurements with the designed uncertainty parameters. The practical feasibility of the measurement data is shown by applying the measurement data for location estimation of an underwater robot.