• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.146.2-146
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• 2001

Recently, a need of non-industrial robot, such as service, medical, entertainment and house-keeping robot, has been increased. Therefore, the capability of robot which can do intelligent behavior like interaction with men and its environment become more prominent than the capability of executing simple repetitive task. To implement an intelligent robot which provides intelligent behavior, an effective system architecture including perception, learning, reasoning and action part is necessary. Control architectures for intelligent robot can be divided into two different classes. One is deliberative type controller which is applicate to high level intelligence like environment ...

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.4
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• pp.358-364
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• 2007

Intelligent walking modeling of humanoid robot using learning based neuro-fuzzy system is presented in this paper. Walking pattern, trajectory of the zero moment point (ZMP) in a humanoid robot is used as an important criterion for the balance of the walking robots but its complex dynamics makes robot control difficult. In addition, it is difficult to generate stable and natural walking motion for a robot. To handle these difficulties and explain empirical laws of the humanoid robot, we are modeling practical humanoid robot using neuro-fuzzy system based on the two types of natural motions which are walking trajectories on a t1at floor and on an ascent. Learning based neuro-fuzzy system employed has good learning capability and computational performance. The results from neuro-fuzzy system are compared with previous approach.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.84.3-84
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• 2001

Suggesting the standard of optimal transferring for one RGV or two RGV, which have multiple buffers, using average delivery time and sigma in the straight line working place. For performing the optimal transferring, present RGV-Job Dispatching algorithm, which is possible to apply in realtime, and apply random job occurrence conditions for examining the possibility to apply various real environments.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.11
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• pp.1117-1123
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• 2008

This paper implements dual-kernel system using standard Linux and real-time embedded Linux for the real-time control of intelligent robot systems. Such system provides more useful services including standard Linux thread that is easy to implement complicated tasks and real-time tasks for the deterministic response to velocity control. Here, an open source real-time embedded Linux, XENOMAI, is ported on embedded target board. And for interfacing with motor controller we adopted a real-time serial device driver. The real-time task was implemented with a priority to keep the cyclic control command for trajectory control. In order to validate deterministic response of the proposed system, the performance measurement of the delay in performing trajectory control with feedback loop is evaluated with non real-time standard Linux. The proposed software architecture is anticipated to take advantage of features in both standard Linux and real-time operating systems for the intelligent robot systems.

• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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• 2003.11a
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• pp.243-249
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• 2003

With distribution industrial control system, the use of tow cost to achieve a highly reliable and safe system in real time distributed embedded application is proposed. This developed intelligent node is based on two microcontrollers, one for the execution of the application code, also as master controller for ensuring the real time control & the logic operation with PLD and other for communication task and the easy control execution, i.e., I/O digital input, digital output and interrupting. This paper also presents where the case NCS(Networked control system) with LonTalk protocol is applied for the filtration process control system of a small water treatment plant.

• International Journal of Control, Automation, and Systems
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• v.5 no.1
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• pp.61-69
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• 2007

In this paper, we developed not only a reliable sound localization system including a VAD(Voice Activity Detection) component using three microphones but also a face tracking system using a vision camera. Moreover, we proposed a way to integrate three systems in the human-robot interaction to compensate errors in the localization of a speaker and to reject unnecessary speech or noise signals entering from undesired directions effectively. For the purpose of verifying our system's performances, we installed the proposed audio-visual system in a prototype robot, called IROBAA(Intelligent ROBot for Active Audition), and demonstrated how to integrate the audio-visual system.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.12 no.2
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• pp.131-136
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• 2012

If one can find a control Lyapunov function (CLF) for a given nonlinear system, the control input stabilizing the system can be easily obtained. To find a CLF, the time derivative of an energy function should be negative definite. This procedure frequently requires a control input which is a rational function or includes an inverse function. The control input is not defined on the specific state-space where the denominator of the rational function is equal to 0 or the inverse function does not exist. In this region with singularities, the trajectory of the control system cannot be generated, which is one of the most important reasons why it is hard to make the origin of a nonlinear system be globally asymptotically stable. In this paper, we propose a smooth control law ensuring the globally asymptotic stability by means of cancelling the singularity in the control input.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.4
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• pp.486-491
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• 2005

This paper proposes the system model that is more efficient and active than formal home automation system and it can conquer the limits of formal one using intelligent mobile robot. This system uses specialized intelligent mobile robot for home environment and the robot moves around home instead of human. We call the system model to HAuPIRS (Home Automation system using PDA based Intelligent Robot System). HAuPIRS control architecture is composed three parts and each part is User Level, Cognitive Level, Executive Level. It is easy to use system and possible to extend the home apparatus from new technology. We made the PBMoRo System (PDA Based Mobile Robot System) based on HAuPIRS architecture and verified the efficiency of the system model.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.4-12
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• 1996

This keynote presentation covers the subject of intelligent systems development for monitoring and control in various NASA space applications. Similar intelligent systems technology also has applications in terrestrial commercial applications. Discussion will be given of the general approach of intelligent systems and description given of intelligent systems under prototype development for possible use in Space Shuttle Upgrade, in the Experimental Crew Return. Vehicle, and in free-flying space robotic cameras to provide autonomy to these spacecraft with flexible human intervention, if desired or needed. Development of intelligent system monitoring and control for regenerative life support subsystems such as NASA's human rated Bio-PLEX test facility is also described. A video showing two recent world's firsts in real-time vision-guided robotic arm and hand grasping of tumbling and translating complex shaped objects in micro-gravity will also be shown.

• The Journal of Korea Robotics Society
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• v.15 no.2
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• pp.115-123
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• 2020

Farmers using conventional sprayer system are exposed to pesticide poisoning and soil pollution due to pesticide application. In order to reduce this problem, the effective sprayer system is required. In this paper, we propose development of intelligent sprayer system using tree recognition. This intelligent sprayer system consists of an image recognition module, a remote control, a sprayer system, an air blower, and a control module. It is possible to spray pesticides automatically and manually through remote control using cameras and controls. We conducted a total of four experiments in tree recognition experiment, test of attachment and water sensitive papers, measurement of pesticide consumption, and measurement of worker exposure. The test results showed that the consumption of pesticides could be reduced while giving the same effect as conventional controls.