• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.545-550
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• 1991

Recently, the use of robots for painting operations has received much attention, as it is a powerful means for automation and quality improvement. Collision-avoidance is a key issue in the path planning for painting operations. In this paper, we develop a computationally efficient algorithm for the generation of collision-free path for two types of motion: a) Gross motion when the robot approaches the painting area, and b) Fine motion while spraying the surface. The former is a typical collision-avoidance problem, but the latter calls for special attention as the painting mechanics has to be incorporated into path planning. The developed algorithm is applied for the internal coating of the car body whose structure is the major source of collision.

• 대한기계학회논문집A
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• 제24권1호
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• pp.225-231
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• 2000

Dimensional synthesis of planar and spatial mechanisms mostly requires solution-finding, procedure for a system of polynomial equations. In case the system is nonlinear, numerical techniques like Newton-Raphson are often used. But there are no logical ways for finding all possible solutions in such iterative methods. In this paper, algebraic elimination is used to get all solutions for the synthesis of 5-SS spatial mechanism with seven prescribed positions. The proposed algorithm is more suitable for computer implementation and takes less time than existing one. Two numerical examples are given to demonstrate the implemented algorithm.

• 한국멀티미디어학회논문지
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• 제12권6호
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• pp.804-814
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• 2009

In this paper, a novel system for avatar motion controlling by tracking face is presented. The system is composed of three main parts: firstly, LCS (Local Cluster Searching) method based face feature detection algorithm, secondly, HMM based feature points recognition algorithm, and finally, avatar controlling and animation generation algorithm. In LCS method, face region can be divided into many small piece regions in horizontal and vertical direction. Then the method will judge each cross point that if it is an object point, edge point or the background point. The HMM method will distinguish the mouth, eyes, nose etc. from these feature points. Based on the detected facial feature points, the 3D avatar is controlled by two ways: avatar orientation and animation, the avatar orientation controlling information can be acquired by analyzing facial geometric information; avatar animation can be generated from the face feature points smoothly. And finally for evaluating performance of the developed system, we implement the system on Window XP OS, the results show that the system can have an excellent performance.

• 한국멀티미디어학회:학술대회논문집
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• 한국멀티미디어학회 2001년도 추계학술발표논문집
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• pp.890-895
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• 2001

In this paper, we address on the problem of automatic scheduling and motion generation of multiple mobile robots fur collecting material parts. We propose a model and so]union algorithm for the system. The formulated problem is divided into two kinds of problems; assignment problem and planning problem of robot motion. In this paper, several approaches to solution methods are presented and compared through computer simulation.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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• pp.315-316
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• 2007

This paper presents a new methodology to improve movement database for a humanoid robot. The database is initially full of human motions so that the kinetics characteristics of human movement are immanent in it. then, the database is updated to the pseudo-optimal motions for the humanoid robot to perform more natural motions, which contain the kinetics characteristics of robot. for this, we use the evolutionary algorithm. the methodology consists of two processes : (1) the offline imitation learning of human movement and (2) the online generation of natural motion. The offline process improve the initial human motion database using the evolutionary algorithm and inverse dynamics-based optimization. The optimization procedure generate new motions using the movement primitive database, minimizing the joint torque. This learning process produces a new database that can endow the humanoid robot with natural motions, which requires minimal torques. In online process, using the linear combination of the motion primitive in this updated database, the humanoid robot can generate the natural motions in real time. The proposed framework gives a systematic methodology for a humanoid robot to learn natural motions from human motions considering dynamics of the robot. The experiment of catching a ball thrown by a man is performed to show the feasibility of the proposed framework.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1989년도 하계종합학술대회 논문집
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• pp.679-684
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• 1989

In this paper, we describe the PTP notion of robot manipulators by neural networks. The PTP motion requires the inverse kinematic redline and the joint trajectory generation algorithm. We use the multi-layered Perceptron neural networks and the Error Back Propagation(EBP) learning rule for inverse kinematic problems. Varying the number of hidden layers and the neurons of each hidden layer, we investigate the performance of the neural networks. Increasing the number of learning sweeps, we also discuss the performance of the neural networks. We propose a method for solving the inverse kinematic problems by adding the error compensation neural networks(ECNN). And, we implement the neural networks proposed by Grossberg et al. for automatic trajectory generation and discuss the problems in detail. Applying the neural networks to the current trajectory generation problems, we can refute the computation time for trajectory generation.

• 자동차안전학회지
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• 제11권3호
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• pp.30-36
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• 2019

This paper suggests a car-following algorithm for urban environment, with multiple target candidates. Until now, advanced driver assistant systems (ADASs) and self-driving technologies have been researched to cope with diverse possible scenarios. Among them, car-following driving has been formed the groundwork of autonomous vehicle for its integrity and flexibility to other modes such as smart cruise system (SCC) and platooning. Although the field has a rich history, most researches has been focused on the shape of target trajectory, such as the order of interpolated polynomial, in simple single-lane situation. However, to introduce the car-following mode in urban environment, realistic situation should be reflected: multi-lane road, target's unstable driving tendency, obstacles. Therefore, the suggested car-following system includes both in-lane preceding vehicle and other factors such as side-lane targets. The algorithm is comprised of three parts: path candidate generation and optimal trajectory selection. In the first part, initial guesses of desired paths are calculated as polynomial function connecting host vehicle's state and vicinal vehicle's predicted future states. In the second part, final target trajectory is selected using quadratic cost function reflecting safeness, control input efficiency, and initial objective such as velocity. Finally, adjusted path and control input are calculated using model predictive control (MPC). The suggested algorithm's performance is verified using off-line simulation using Matlab; the results shows reasonable car-following motion planning.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1999년도 하계종합학술대회 논문집
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• pp.1091-1094
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• 1999

In this paper, we propose new algorithms to construct video object planes(VOP’s) for MPEG-4. VOP’s allow the new video standard MPEG-4 to enable content-based funtionalities. A comprehensive review summarizes some of the most important VOP’s generation techniques that have been proposed. The proposed algorithm use segmentation technique as labeling and motion estimation as three-step search algorithm(TSS). It is improved by a labeling technique that distinguishes background and object from a frame.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2008년도 심포지엄 논문집 정보 및 제어부문
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• pp.75-76
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• 2008

In oder for the robot to walk with stability, trajectory generation method for the biped robot is important. In this paper proposed the genetic algorithm to optimize biped robot motion parameters. Because most of trajectory generation, the walking parameters determined arbitrarily. Formulating the constraints of the motion parameters, and the trajectory is derived by cubic spline function. Finally walking patterns are described through simulation studies. When the ZMP(zero moment point) and DSM(dynamic stability margin) are satisfied, the walking pattern is chosen.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.814-819
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• 2007

Palletizing task is well-known time consuming and laborious process in factory, hence automation is seriously required. To do this, artificial robot is generally used. These systems however, mostly user teaches the robot point to point and to avoid time-variable obstacle, robot is required to attach the vision camera. These system structures bring about inefficiency and additional cost. In this paper we propose task-oriented trajectory generation algorithm for palletizing. This algorithm based on $A^{*}$ algorithm and slice plane theory, and modify the object dealing method. As a result, we show the elapsed simulation time and compare with old method. This simulation algorithm can be used directly to the off-line palletizing simulator and raise the performance of robot palletizing simulator not using excessive motion area of robot to avoid adjacent components or vision system. Most of all, this algorithm can be used to low-level PC or portable teach pendent