• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1996.06c
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• pp.142-159
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• 1996

Engineering of automated tools for the agro-food industries and the rural world activities have to pick up two challenges : to answer the immediate important problems related to the situation of these industries, and to imaging the tools that their professional will need next century. Creating or modifying automated tools in the next few will be made taking into account parameters either technical (environmental protection, health and safety), or social and economical (investment , employment). There will be a strong interaction with disciplines like ecology, medicine, ergonomy, psycho-sociology , etc. , The partners for such a research, tools manufactures and users, should have an early involvement in its content, in order to find rapidly the solution to the drastic problems they are meeting. On a longer term , during the next 20 years , there will be an important evolution of the rural space management and of the food processes. This will imply the emergence of new types of activities and know-how's , with lines of automated tools to be invented and developed , like : micro-system for organic localized tasks -mobile and adaptive equipments highly autonomous for natural space actions - device for perception , decision and control reproducing automatically the expert behaviors of human operators. Design of such automated tools need to overcome technological difficulties like the automation of the expert-decision process, or the management of complex design.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.4
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• pp.498-504
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• 2005

A fuzzy logic for collision avoidance of underwater robots is proposed in this paper. The VFF(Virtual Force Field) method, which is widely used in the field of mobile robots, is modified for application to the autonomous navigation of underwater robots. This Modified Virtual Force Field(MVFF) method using the fuzzy logic can be used in either track keeping or obstacle avoidance. Fuzzy logics are devised to handle various situations which can be faced during autonomous navigation of underwater robots. The obstacle avoidance algorithm has the ability to handle multiple static obstacles. Results of simulation show that the proposed method can be efficiently applied to obstacle avoidance of the underwater robots.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.32B no.9
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• pp.1215-1230
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• 1995

The purpose of this paper is to build a computer vision system that endows an autonomous mobile robot the ability of automatic measuring of the analog and digital meters installed in nuclear power plant(NPP). This computer vision system takes a significant part in the organization of automatic surveillance and measurement system having the instruments and gadzets in NPP under automatic control situation. In the meter image captured by the camera, the meter area is sorted out using mainly the thresholding and the region labeling and the meter value recognition process follows. The positions and the angles of the needles in analog meter images are detected using the projection based method. In the case of digital meters, digits and points are extracted and finally recognized through the neural network classifier. To use available database containing relevant information about meters and to build fully automatic meter recognition system, the segmentation and recognition of the function-name in the meter printed around the meter area should be achieved for enhancing identification reliability. For thus, the function- name of the meter needs to be identified and furthermore the scale distributions and values are also required to be analyzed for building the more sophisticated system and making the meter recognition fully automatic.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.3
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• pp.291-296
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• 2008

This paper presents the dodecagon-based Q-leaning and SVM algorithm for object search with multiple robots. We organized an experimental environment with several mobile robots, obstacles, and an object. Then we sent the robots to a hallway, where some obstacles were tying about, to search for a hidden object. In experiment, we used four different control methods: a random search, a fusion model with Distance-based action making(DBAM) and Area-based action making(ABAM) process to determine the next action of the robots, and hexagon-based Q-learning and dodecagon-based Q-learning and SVM to enhance the fusion model with Distance-based action making(DBAM) and Area-based action making(ABAM) process.

• The Journal of Korea Robotics Society
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• v.17 no.4
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• pp.407-416
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• 2022

Multiple AMRs have been proved to be effective in improving warehouse productivity by eliminating workers' wasteful walking time. Although Multi-agent Path Finding (MAPF)-based solution is an optimal approach for this task, its deployment in practice is challenging mainly due to its imperfect plan-execution capabilities and insufficient computing resources for high-density environments. In this paper, we present a MAPF-based fleet management system architecture that robustly manages multiple robots by re-computing their paths whenever it is necessary. To achieve this, we defined four events that trigger our MAPF solver framework to generate new paths. These paths are then delivered to each AMR through ROS2 message topic. We also optimized a graph structure that effectively captures spatial information of the warehouse. By using this graph structure we can reduce computational burden while keeping its rescheduling functionality. With proposed MAPF-based fleet management system, we can control AMRs without collision or deadlock. We applied our fleet management system to the real logistics warehouse with 10 AMRs and observed that it works without a problem. We also present the usage statistic of adopting AMRs with proposed fleet management system to the warehouse. We show that it is useful over 25% of daily working time.

• International Journal of High-Rise Buildings
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• v.11 no.2
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• pp.115-124
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• 2022

Welding is a significant part of the construction industry. Since most high-rise building construction structures rely on a robust metal frame welded together, welding defect can damage welded structures and is critical to safety and quality. Despite its importance and heavy usage in construction, the labor shortage of welders has been a continuous challenge to the construction industry. To deal with the labor shortage, the ultimate goal of this study is to design and develop an automated robotic welding system composed of a welding machine, unmanned ground vehicle (UGV), robotic arm, and visual sensors. This paper proposes and focuses on automated weaving using the robotic arm. For automated welding operation, a microcontroller is used to control the switch and is added to a welding torch by physically modifying the hardware. Varying weave patterns are mathematically programmed. The automated weaving is tested using a brush pen and a ballpoint pen to clearly see the patterns and detect any changes in vertical forces by the arm during weaving. The results show that the weave patterns have sufficiently high consistency and precision to be used in the actual welding. Lastly, actual welding was performed, and the results are presented.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.19 no.3
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• pp.741-746
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• 2015

Recently, as mobile operating system market and wireless communication technology have been rapidly developed, many devices such as smart phones, air conditioners, smart TVs, cleaning robot, and cameras become available with android operating system. Accordingly, collecting variety of information through many everyday use devices with network connections is now enabled. However, in the current market, most devices are controlled individually developed applications, and there is growing need to develop a master application that can control multiple devices. In this paper, we propose and implement a system that can control multiple android-based devices on a Wired/Wireless router(AP) registered through web server. we expect such an effort can attribute to future IoT researches.

• Journal of the Korean Institute of Intelligent Systems
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• v.10 no.2
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• pp.138-145
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• 2000

A identification algorithm that finds optimal fuzzy membership functions and rule base to fuzzy model isproposed and a fuzzy controller is designed to get more accurate position and velocity control of wheeled mobile robot. This procedure that is composed of three steps has its own unique process at each step. The elements of output term set are increased at first step and then the rule base is varied according to increase of the elements. The adjusted system is in competition with system which doesn't include any increased elements. The adjusted system will be removed if the system lost. Otherwise, the control system is replaced with the adjusted system. After finished regulation of output term set and rule base, searching for input membership functions is processed with constraints and fine tuning of output membership functions is done.

• Korean Journal of Construction Engineering and Management
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• v.10 no.1
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• pp.136-145
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• 2009

The objective of the Intelligent Excavation System (IES) is to recognize the work environment and produce work plan and automatically control the excavator through integrating sensor and robot technologies. This paper discusses one of the core technologies of IES development project, development of 3D work environment modeling. 3D laser scanner is used for 3-dimensional mathematical model that can be visualized in virtual space in 3D. This paper describes (1) how the most appropriate 3D imaging system has been chosen; (2) the development of user interface and customization of the s/w to control the scanner for IES project; (3) the development of the mobile station for the scanner; (4) and the algorithm for the automatic registration of laser scan segments for IES project. The development system has been tested on the construction field and lessons learned and future development requirements are suggested.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.8 no.3
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• pp.169-175
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• 2014

In this study, it is intended to provide a slip detector is an important function in the research on the slip control can be addressed uncontrollably path withdrawal might during driving of the power wheelchair, slip phenomenon occurs. By detecting and electric wheelchairs, the state of the motor during running, the detection of the slip, slip detection information calculated using an encoder that is connected to the left and right motor with six-axis IMU sensor for the electric wheelchair using an algorithm to calculate the slip ratio. Slip rate calculated in this way is used as control variable for improving the safety of the electric wheelchair. It was confirmed from the slip phenomenon of the path the proposed experiments slim detector proposed in this study. The maximum slip ratio detection zone during the experiment, can occur during turning of the electric wheelchair has been confirmed.