• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1162-1167
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• 2003

This paper presents a simple sensor network consists of a group of sensors, RF components, and microprocessors, to perform a distributed sensing and information transmission using wireless links. In the proposed sensor network, though each sensor node has a limited capability and a simple signal-processing engine, a group of sensor nodes can perform a various tasks through coordinated information sharing and wireless communication in a large working area. Using the capability of self-localization and tracking, we show the sensor network can be applied to localization and navigation of mobile robot in which the robot has to be coordinated effectively to perform given task in real time.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.323-326
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• 1995

During a fast decade, an automatic control technology makes an aggressive improvement with the developments of computer and communication technology. In large scale and complicated systems, an autonomous decentralized control system is required in which the sub-systems must have some ability such that the self-judgement and self-performance functions. In this paper, we propose an algorithm to realized these functions using micro mobile robot which is applied to a control of a werehouse. The proposed algorithm is based on performance index, and the selecting rules of the task between the sub-systems are induced by the index. Also, it is effected by weighting function which is determined by environment and kind of works. To verify the effectiveness of this algorithm, we develop the simulator to implement the autonomous decentralized control and apply to the micro mobile robot on the PC machine.

• 한국정밀공학회지
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• 제21권7호
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• pp.92-100
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• 2004

A service robot is expected to be useful in indoor environment such as a hotel, a hospital and so on. However, many service robots are driven by wheels so that they cannot climb stairs to move to other floors. If the robot cannot use elevators. In this paper, the mobile manipulator system was developed, which can operate numeral buttons on the operating panel in the elevator. To perform this task, the robot is composed of an image recognition module, an ultrasonic sensor module and a manipulator. The robot can recognize numeral buttons and an end-effector in manipulator by the vision system. The Learning vector quantization (LVQ) algorithm is used to recognize the number on the button. The barcode mark on the end-effector is used to recognize the end-effector. The manipulator can push numeral buttons using informations captured by the vision system. The proposed method is evaluated by experiments.

• 한국산업융합학회 논문집
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• 제22권4호
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• pp.415-425
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• 2019

This study proposes a new approach to control Moving Stuff Action Through Iterative Learning robot with dual arm for smart factory. When robot moves object with dual arm, not only position of each hand but also contact force at surface of an object should be considered. However, it is not easy to determine every parameters for planning trajectory of the an object and grasping object concerning about variety compliant environment. On the other hand, human knows how to move an object gracefully by using eyes and feel of hands which means that robot could learn position and force from human demonstration so that robot can use learned task at variety case. This paper suggest a way how to learn dynamic equation which concern about both of position and path.

• International Journal of Control, Automation, and Systems
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• 제6권5호
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• pp.722-730
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• 2008

This paper proposes two novel algorithms enabling mobile robots to cooperate with each other in a reliability-based system and a time-critical system. In the reliability-based cooperative system, the concepts of a mobile ad hoc network (MANET) and an object entropy are adopted in order to coordinate a specific task. A logical robot group is created based on the exchange of request and reply messages in a robot communication group whose organization depends on transmission range. In the time-critical cooperative system, relational entropy is used to define the relationship between mobile robots. A group leader is selected based on optimizing power consumption. The proposed algorithm has been verified based on the computer-based simulation and soccer robot experiment. The performance metrics are defined. The metrics include the number of messages needed to make a logical robot group and to obtain the relationship of robots and the power consumption to select a group leader. They are verified by simulation and experiment.

• 한국콘텐츠학회:학술대회논문집
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• 한국콘텐츠학회 2007년도 추계 종합학술대회 논문집
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• pp.599-602
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• 2007

단위벡터장 항법은 목표지점으로의 항해를 위해 로봇에 필요한 자세(각도와 위치)를 보장한다. 단위벡터장 항법은 목적지에 따른 로봇의 자세를 수렴하는데 있어 효율적이나 기존의 방법에서는 목적지와 로봇의 위치를 고려하지 않고 단방향의 진행방향만을 중심으로 벡터장을 생성하였기 때문에 목적 위치에 따라서 비효율적인 회피 경로를 생성할 때도 있었다. 따라서 본 논문에서는, 이 문제를 해결하기 위해 로봇과 목표점을 중심으로 하는 벡터장을 생성하여, 어느 위치에서든 더 빠른 길로 장애물을 회피하여 목표지점까지 향해갈 수 있는 방법을 제시한다.

• 전자공학회논문지SC
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• 제42권5호
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• pp.1-12
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• 2005

이동로봇과 작업로봇의 직결연결 형태인 이동매니퓰레이터는 원자로 내부와 같은 위험한 작업환경에서 다양한 일한 처리하기위해 유용한 시스템이라 할 수 있다. 하부의 이동로봇은 non-holonomic 시스템이고 상부의 작업로봇의 결합으로 인하여 기구학적 잉여자유도를 갖고 있다. 그러나 주행 중 작업공간 확보로 인하여 고정식 매니퓰레이터보다 더 효율적인 작업이 가능 하다고 할 수 있다. 본 논문에서는 영상정보에 의한 물체인식 및 최적주행을 수행하기 위하여 이동로봇에 장착된 능동카메라에 인식된 영상과 실제 물체간의 기하학적 관계를 이용하여 직교좌표상의 물체의 위치를 추정할 수 있도록 하였다. 두 번째로 시스템의 위치변위 및 영상정보를 이용하여 물체위치를 추정하고 동차행렬을 이용하여 이동매니퓰레이터의 현 위치와 물체간의 최적경로를 결정하는 방법을 제시하였다. 제시한 방법을 시뮬레이션과 이동매니퓰레이터를 이용한 실험데이터분석을 통하여 유효성을 제시하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.17-17
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• 1996

An experimental research is a useful approach for realizing autonomous mobile robots to work in real environment. We are developing an autonomous mobile robot platform named "Yamabico" as a tool for experimental real world robotics research. The architecture of Yamabico is based on the concept of centralized decision making and functionally modularization. Yamabico robot has two level structure with behavior and function levels, and its hardware and software are functionally distributed for providing incremental development and good maintenancibility. We are using many Yamabico robots in our laboratory to realize the robust navigation technology for autonomous robots. The methodology for experimental and task-oriented approach of mobile robotics will be presented. And some experimental results of real world navigation in indoor and outdoor environment will be shown. be shown.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1909-1914
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• 2004

Passive velocity field control (PVFC) was previously developed for fully mechanical systems, in which the motion task was specified behaviorally in terms of a velocity field, and the closed-loop was passive with respect to a supply rate given by the environment input. However the PVFC was only applied to a single manipulator, the proposed control law was derived geometrically, and the geometric and robustness properties of the closed-loop system were also analyzed. In this paper, we propose a method to apply a decentralized control algorithm to cooperative 3-wheeled mobile robots whose subsystem is under nonholonomic constraints and which convey a common rigid object in a horizontal plain. Moreover it is shown that multiple robot systems ensure stability and the velocities of augmented systems convergence to a scaled multiple of each desired velocity field for cooperative mobile robot systems.

• 대한임베디드공학회논문지
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• 제9권2호
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• pp.67-73
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• 2014

When a mobile robot performs in unknown environments, a location identification is an essential task. In this paper, we propose a location identification system that uses a sensor space without additional devices on the robot. Also the sensor space consists of a matrix of CDS sensor; when a robot was positioned on the CDS sensor, we can estimate the coordinate of the location by sensing a light. Based on KS illumination standard, experiments are performed in various environments. By evaluating the experimental results, we can show that the proposed system can be applicable to the location identification system of a moving robot.