• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.415-415
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• 2000

The functions of a mobile robot such as obstacle knowledge and collision avoidance for in-door cleaning are necessary features, as has been much studied in the field of industrial automatic guided vehicle or general mobile robot. A mobile robot, in order to avoid collision with obstacles, has to gather data with environment knowledge sensors and recognize environment and the shape of obstacles from the data. In the study, a wall-following algorithm was suggested as a autonomous moving algorithm in which a mobile robot can recognize obstacles in indoor like environment and do cleaning work in effect. The system suggested in the study is for cleaning of nuclear material dusts generated in the process of nuclear fuel manufacturing and decontamination of devices in disorder which is performed in M6 radioactive ray shield hot-cell in IMEF(Irradiated Material Examination Facility) in the Korea Atomic Energy Research Institute.

• International Journal of Internet, Broadcasting and Communication
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• 제14권1호
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• pp.209-218
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• 2022

Today, with the development of the Internet and mobile technology, consumers' purchasing patterns have shifted from offline to online. In addition, due to the recent COVID-19, online purchases have significantly increased, and accordingly, the courier industry for logistics delivery has also grown significantly. Various logistics robots are being operated in many industrial and can reduce the labor intensity and physical and mental fatigue of workers. However, if the logistics robot does not properly recognize the people or environment around it, it can lead to a serious accident. We conducted that how logistics robots can perform safe work in a working environment such as a logistics warehouse through the application of ISO/DIS 21448 (SOTIF) to autonomous logistics transport robots. This result is expected to contribute to the operation of unmanned logistics warehouses using AGV.

• 대한기계학회논문집A
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• 제25권2호
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• pp.323-329
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• 2001

In this paper, we present a collaborative method for material delivery using a distributed vehicle agents system. Generally used AGV(Autonomous Guided Vehicle) systems in FA require extraordinary facilities like guidepaths and landmarks and have numerous limitations for application in different environments. Moreover in the case of controlling multi vehicles, the necessity for developing corporation abilities like loading and unloading materials between vehicles including different types is increasing nowadays for automation of material flow. Thus to compensate and improve the functions of AGV, it is important to endow vehicles with the intelligence to recognize environments and goods and to determine the goal point to approach. In this study we propose an interaction method between hetero-type vehicles and adaptive fuzzy logic controllers for sensor-based path planning methods and material identifying methods which recognizes color. For the purpose of carrying materials to the goal, simple color sensor is used instead vision system to search for material and recognize its color in order to determine the goal point to transfer it to. The proposed method reaveals a great deal of improvement on its performance.

• 한국정밀공학회지
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• 제18권5호
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• pp.42-49
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• 2001

In This paper, we present a collaborative method for material delivery using a distributed vehicle agents system. Generally used AGV(Autonomous Guided Vehicle) systems in FA(Factory Automation) require extraordinary facilities like guidepaths and landmarks and have numerous limitations for application in different environments. Moreover in the case of controlling multi vehicles, the necessity for developing corporation abilities like loading and unloading materials between vehicles including different types is increasing nowadays for automation of material flow. Thus to compensate and improve the functions of AGV, it is important to endow vehicles with the intelligence to recognize environments and goods and to determine the goal point to approach. In this study we propose an interaction method between hetero-type vehicles and adaptive fuzzy logic controllers for sensor-based path planning methods and material identifying methods which recognizes color. For the purpose of carrying materials to the goal, simple color sensor is used instead of intricate vision system to search for material and recognize its color in order to determine the goal point to transfer it to. The technique for the proposed method will be demonstrated by experiment.

• Journal of Biosystems Engineering
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• 제37권5호
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• pp.287-295
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• 2012

Purpose: Some of the most representative approaches are to apply next generation technologies to save energy consumption, fully automated control system to appropriately maintain environmental conditions, and autonomous assistance system to reduce labor load and ensure operator's safety. Nevertheless, improvement of upcoming method for soil cultured greenhouse has not been sufficiently achieved. Geometrical complexity of ground in protected crop cultivation might be one of the most dominant factors in design of autonomous vehicle. While there is a practical solution fairly enough to promise an accurate travelling, such as autonomous sprayer guided by rail or induction coil, for various reasons including the limitation of producer's budget, the previously developed sprayer has not been widely distributed to market. Methods: In this study, we developed an autonomous sprayer considering travelling performance on geometrical complexity of ground in soil cultured greenhouse. To maintain a stable travelling and to acquire a real time feedback, common wire with 80 mm thick and body frame and sprayer boom. To evaluate performance of the prototype, tracking performance, climbing performance and spraying boom's uniform leveling performance were individually evaluated by corresponding experimental tests. Results: The autonomous guidance system was proved to be sufficiently suitable for accurate linear traveling with RMS as lower than approximately 10 cm from designated path. Also the prototype could climb $10^{\circ}$ of ground's slope angle with 40 kg of water weight. Uniform leveling of spraying boom was successfully performed within $0.5^{\circ}$ of sprayer boom's slope. Conclusions: Considering more complex pathways and coarse ground conditions, evaluations and improvements of the prototype should be performed for promising reliability to commercialization.

• 제어로봇시스템학회논문지
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• 제8권9호
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• pp.795-802
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• 2002

We present a new dynamic routing scheme for multiple autonomous guided vehicles (AGVs) systems. There have been so many results concerned with scheduling and routing of multiple AGV systems; however, most of them are only applicable to systems with a small number of AGVs under a low degree of concurrency. With an increased number of AGVs in recent applications, these AGV systems are faced with another problem that has never been occurred in a system with a small number AGVs. This is the stop propagation problem. That is, if a leading AGV stops then all the following AGVs must stop to avoid any collision. In order to resolve this problem, we propose a nonstop preferential detour (NPD) algorithm which is a new dynamic routing scheme employing an election algorithm. For real time computation, we introduce two stage control scheme and propose a new path searching scheme, k-via shortest path scheme for an efficient dynamic routing algorithm. Finally, the proposed new dynamic routing scheme is illustrated by an example.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2004년도 학술대회지
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• pp.68-72
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• 2004

A practical method to investigate the user interface of web based Flexible Manufacturing System(FMS) on the internet environment is established. Because the industrial FMS controller requires a lot of gadget, such as switch, dial, button, etc., for actual work-site flexible operation sufficiently, the user interface of the controller is significantly complex. The support for operational convenience of FMS controller can increase productivity and efficiency of the user, operational personnel of FMS. While most FMS provide their application programming interface(API) and graphical user interface(GUI) with adequate mechanism itself when used in stand alone, there is increasing demand for FMS that can operate with the intuitional user interface find virtual reality(V/R) environment. This thesis considers the intuitional user interface of Web-based FMS first, and from this, goes a step further, improves as virtual reality environment of FMS on the internet environments by using the feature based modeling technique approach and cartoon rendering. The feature-based modeling technique approach is applied to FMS line which is consist of facilities such as machining center, CNC lathe, autonomous guided vehicle, rail guided vehicle, and various controllers. In this study, the FMS established the intuitional user interface is able to obtain not only the operational convenience but also the enough productivity and significant efficiency.

• 예술인문사회 융합 멀티미디어 논문지
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• 제7권9호
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• pp.259-269
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• 2017

최근 4차 산업혁명의 도래로 지능형 시스템의 필요성이 커지고 있으며, 이에 따라 자율제어 시스템이 중요한 이슈가 되고 있다. 자율제어 시스템이 대상 시스템을 모니터링 하기 위해서는 설비 및 센서의 데이터를 수집할 수 있어야 한다. 그러나 기존 공장의 설비 및 센서 데이터는 제조사마다 형식이 다르기 때문에 데이터 수집에 어려움이 있다. 따라서 본 논문은 표준 제조설비 데이터 수집 미들웨어인 'MTConnect'를 이용해 이를 보완하였다. 데이터를 수집하고 공통된 형식으로 변경하는 MTConnect를 이용해 1) parseBuffer, 2) processData, 3) addToBuffer, 의 3단계 프로세스를 가지는 데이터 수집 및 처리 시스템을 제안한다. 제안된 시스템을 통해 우리는 자율제어 시스템에서 사용 가능한 공통된 형식의 데이터를 얻을 수 있다. 우리는 사례연구로서 공장 내 무인 운반 시스템인 AGV(Automated Guided Vehicle)의 데이터 생성 및 수집을 실험했다. 이를 위해 MTConnect 표준을 준수하여 데이터 타입을 정의하고 제안된 시스템을 통해 수집된 데이터를 확인했다.

• 제어로봇시스템학회논문지
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• 제10권12호
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• pp.1137-1147
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• 2004

In this paper, we proposed two types of adaptive control mechanism which is named HIA(Humoral Immune Algorithm) PID and CMIA(Cell-Mediated Immune Algorithm) controller based on biological immune system under engineering point of view. The HIA PID which has real time control scheme is focused on the humoral immunity and the latter which has the self-tuning mechanism is focused on the T-cell regulated immune response. To verify the performance of the proposed controller, some experiments for the control of AGV which is used for the port automation to carry container without human are performed. The experimental results for the control of steering and speed of an AGV system illustrate the effectiveness of the proposed control scheme. Moreover, in that results, proposed controllers have better performance than other conventional PID controller and intelligent control method which is the NN(neural network) PID controller.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1991년도 하계학술대회 논문집
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• pp.713-716
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• 1991

This paper describes a methodology of mobile robot navigation which is designed to carry heavy payloads at high speeds to be used in FMS(Flexible Manufacturing System) without human control. Intelligent control scheme using fuzzy logic is applied to the navigation control. It analyzes sensor readings from multi-sensor system, which is composed of ultrasonic sensors, infrared sensors and odometer, for environment learning, planning, landmark detecting and system control. And it is implemented on a physical robot, AGV(Autonomous Guided Vehicle) which is a two-wheeled, indoor robot. An on-board control software is composed of two subsystems, i.e., AGV control subsystem and Sensor control subsystem. The results show that the navigation of the AGV is robust and flexible, and a real-time control is possible.