• Information and Communications Magazine
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• v.22 no.11
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• pp.63-72
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• 2005

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.4
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• pp.435-440
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• 2012

Recently autonomous navigation systems are taken great attention in real industry. The ability to performing desired tasks in rough, changing, unstructured and uncertain environments without continuous human assistance is needed in autonomous navigation systems including autonomous robots. Industrial Mobile robot can be required wireless network communications for the purpose of navigation information sharing. According to these backgrounds, in this paper, we develop sensor network and wireless network-based autonomous navigation systems, and provide experimental results in order to show the validity of the developed systems.

• Proceedings of the Korea Information Processing Society Conference
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• 2011.11a
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• pp.155-158
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• 2011

정보 통신 기술의 발달로 사람들은 언제 어디서나 정보에 접근하고 서비스를 받을 수 있게 되었다. 이러한 기술의 발전은 로봇에도 영향을 미치고 있고 언제 어디서나 나와 함께 하며 나에게 필요한 서비스를 제공하는 네트워크 기반 로봇을 개발 중에 있다. 이러한 로봇을 URC 라고 하는데 이 URC 가 사용자에게 맞는 서비스를 제공하기 위해서 상황인지 기능이 필요하다. 이에 본 논문에서는 로봇 서비스를 표현할 수 있는 상황인지 워크플로우 언어(CAWL)를 바탕으로 상황인지 URC 서비스를 제공하기 위한 컨텍스트 비교기를 제안한다. 컨텍스트 비교기는 트리플릿으로 표현된 사용자 주변 환경으로부터 발생하는 동적인 상황 정보를 로봇, 센서, 모바일 등의 상황정보를 저장하고 있는 온톨로지와 비교하여 현재의 상황을 인식할 수 있는 모듈이다. 제안하는 컨텍스트 비교기를 이용하여 상황에 따른 서비스를 제공할 수 있다.

• ICROS
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• v.14 no.2
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• pp.21-25
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• 2008

• The Journal of the Convergence on Culture Technology
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• v.9 no.3
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• pp.677-682
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• 2023

A large number of motors and sensors are used to drive a humanoid robot. In order to solve the wiring problem that occurs when connecting multiple actuators, a controller based on a communication network has been used, and CAN, which is advantageous in terms of cost and a highly reliable communication protocol, was mainly used. In terms of the structure of the controller, a torque control type structure that is easy to implement an advanced algorithm into the upper controller is preferred. In this case, the low communication bandwidth of CAN becomes a problem, and in order to obtain sufficient communication bandwidth, a communication network is configured by separating into a plurality of CAN networks. In this study, a stability analysis on transmission time delay is performed for a multi-motor control system in which high-speed FlexRay and low-speed CAN communication networks are hierarchically connected in order to obtain a high communication bandwidth, and sensor information and driving signals are delivered within the allowed transmission time. The proposed hierarchical network-based control system is expected to improve control performance because it can implement multiple motor control systems with a single network.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.41 no.4
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• pp.441-450
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• 2016

Wireless multi-hop communication is one of the key technologies to operate Unmanned Ground System (UGS) networks efficiently. Conventionally a lot of routing protocol has been developed and studied for multi-hop networks like Mobile Ad-hoc Network (MANET). However, the routing protocol for the unique environment of the UGS requires further studies, since conventional routing protocols cannot be used itself for UGS networks. In this paper, we propose the Betweenness Centrality based Geographic Routing (BCGR) which considers the main function of UGS. BCGR utilizes expanded ego betweenness centrality, mobility and location information error, respectively. We have conducted a simulation study for evaluating the performance of the BCGR using ns-3, and our simulation results show that BCGR outperforms the conventional routing protocols such as AODV and GPSR in terms of end-to-end transmission reliability, throughput and delay.

• Proceedings of the Korea Information Processing Society Conference
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• 2011.04a
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• pp.635-638
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• 2011

기존 센서들은 고정형 무선 네트워크로 구성되어 재난지역, 군사지역 등의 지역에서는 데이터를 획득 할 수 있는 관찰영역이 제한적이다. 하지만 이동 능력을 가진 센서들이 스스로 주변 센서들의 위치와 장애물의 위치를 이용하여 자율 배치된다면 센서들의 관찰영역을 보다 많이 확보하면서 보다 더 정확한 데이터를 얻을 수 있다. 본 논문에서는 로봇 공학 분야에서 많이 사용하는 Player/Stage 시뮬레이터를 이용하여 다양한 실제 환경과 같은 가상의 환경에서 포텐셜 필드 방식을 적용한 센서 로봇 집단의 자율 배치 기법을 모의실험하고 검증한다. 또한 그 자율 배치 방법을 이용한 실제 이동 센서 로봇집단의 구현 내용 및 결과를 제시한다.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.7
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• pp.2616-2622
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• 2010

This paper implements the algorithm for Janggi game robot based on network for the disabled people. The movement of target on janggi for them is designed using wireless robot and voice recognition. To remove obstacles, we implement the algorithm for moving object based on $A^{\ast}$ algorithm. We test the janggi game and certify effectiveness of moving object through the implementation of algorithm for them.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2008.04a
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• pp.104-106
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• 2008

본 논문에서는 미래형 로봇의 발전방향의 "네트워크화", "모듈화"의 개념을 만족할 수 있는 산업용 이더넷 기반의 BLDC 모터 제어 기법을 제시하고 그 가능성을 확인하였다.

• The Journal of the Korea institute of electronic communication sciences
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• v.18 no.2
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• pp.231-240
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• 2023

It remains a challenge for robots to learn avoiding obstacles automatically in path planning using deep reinforcement learning (DRL). More and more researchers use DRL to train a robot in a simulated environment and verify the possibility of DRL to achieve automatic obstacle avoidance. Due to the influence factors of different environments robots and sensors, it is rare to realize automatic obstacle avoidance of robots in real scenarios. In order to learn automatic path planning by avoiding obstacles in the actual scene we designed a simple Testbed with the wall and the obstacle and had a camera on the robot. The robot's goal is to get from the start point to the end point without hitting the wall as soon as possible. For the robot to learn to avoid the wall and obstacle we propose to use the double deep Q networks (DDQN) to verify the possibility of DRL in automatic obstacle avoidance. In the experiment the robot used is Jetbot, and it can be applied to some robot task scenarios that require obstacle avoidance in automated path planning.