• The Journal of the Korea institute of electronic communication sciences
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• v.5 no.5
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• pp.534-540
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• 2010

In this paper, we propose the mathematical algorithm for collision avoidance between the robots and for the obstacle avoidance during the operation of the several chaotic robotics. For the useful formation control and as one of the method to provide command structure of communication between the robots, we also propose the synchronization method between the robotic system and confirmed the result with the computer simulation.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.797-800
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• 1992

Much experience and knowledge is needed in welding because there are many working parameters and quantitative description is difficult. Therefore, introduction of expert system based on such data base has been required. In this study, welding heat and shape of bead was controlled by fuzzy inference with the welding condition, position error and voltage and current error of robot. For this, torch trajectory of robot was generated by modeling the working data with CAD and then welding was carried out through down loading to robot. And working error was controlled by on-line communication.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.8
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• pp.689-695
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• 2004

This paper presents a robot system that combines computer network and an autonomous mobile robot where RTOS is installed. We propose a wireless communication protocol, and also implement it on the RTOS of the robot system. Main controller of the robot processes the control program as a task type in the real-time operating system. Peripheral devices are driven by the device driver functions with the dependency of the hardware. Because the client and server program was implemented to support the multi-platforms by Java SDK and Java JMF, it is easy to analyze programs, maintain system, and correct the errors in the system. End-user can control a robot with a vision showing remote sight over the Internet in real time, and the robot is moved keeping away from the obstacles by itself and command of the server received from end-user at the local client.

• Journal of IKEEE
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• v.14 no.2
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• pp.58-63
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• 2010

In this paper, design and implementation of multi-modular robots of similar structure to the arthropods for rock path driving. Each module corresponds to an arthropod joint, which has an independent power supply and control equipment including drive and short-range Zigbee wireless communication that were implemented. On various directions and paths each module has the same driving direction and each module is controlled to operate or not by wireless communication. Depending on path condition, each module calculate the speed and torque and depending on the slope of a rough path, the number of active modules can be changed for the efficient driving on a variety of roads conditions. Experimental driving through rough road model, variable multi-module robot is implemented.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1938-1943
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• 2005

Network human-robot interface is an important research topic. In home application, users access the robotic system directly via voice, gestures or through the network. Users explore a system by using the services provided by this system and to some extend users are enable to participate in a service as partners. A service may be provided by a robot, a group of robots or robots and other network connected systems (distributed sensors, information systems, etc). All these services are done in the network environment, where uncertainty such as the unstable network connection, the availability of the partners in a service, exists. Moreover, these services are controlled by several users, accessing at different time by different methods. Our research aimed at solving this problem to provide a high available level, flexible coordination system. In this paper, a multi-agent framework is proposed. This framework is validated by using our new concept of slave agents, a responsive multi-agent environment, a virtual directory facilitator (VDF), and a task allocation system using contract net protocol. Our system uses a mixed model between distributed and centralized model. It uses a centralized agent management system (AMS) to control the overall system. However, the partners and users may be distributed agents connected to the center through agent communication or centralized at the AMS container using the slave agents to represent the physical agents. The system is able to determine the task allocation for a group of robot working as a team to provide a service. A number of experiments have been conducted successfully in our lab environment using Issac robot, a PDA for user agent and a wireless network system, operated under our multi agent framework control. The experiments show that this framework works well and provides some advantages to existing systems.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.304-306
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• 2003

In this paper, we propose the intelligent robot control technique for mobile robot using personal digital assistants (PDA). With the proposed technique, the mobile rebot can trace human at regular intervals by the remote control method with PDA. The mobile robot can recognize the distances between it and human whom the robot must follow with both multi-ultrasonic sensors and PC-camera and then, can inference the direction and velocity of itself to keep the given regular distances. In the first place, the mobile robot acquires the information about circumstances using ultrasonic sensor and PC-camera then secondly, transmits the data to PDA using wireless LAN communication. Finally, PDA recognizes the status of circumstances using the fuzzy logic and neural network and gives the command to mobile robot again.

• Journal of Internet Computing and Services
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• v.10 no.6
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• pp.27-36
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• 2009

PSTN (public switched telephone network) provides voice communication service, whereas IP network provides data oriented service, and we can use IP network for multimedia transport service (e.g. voice over IP service) with economic price. In this paper, we propose RoIP (robot on IP) service scenario, signaling call flow, and implementation to provide home automation and monitoring service for remote site users. In our scheme, we used a extended SIP (session initiation protocol) for signaling protocol between remote site users and home robots. For our bearer transport control, we implemented H.263 video codec over RTP (real-time transport protocol) and additionally DTMF (dual tone multi-frequency) transport for robot actuator control. We implemented our scheme on home robots and experimented with KTF operator network, and it shows good communication quality (average MOS = 9.15) and flexible robot controls.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.12
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• pp.1233-1240
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• 2004

Recently the need for cooperative control among robots is increasing in a variety of industrial robot applications. Such a control framework enhances the efficiency of the real robotic assembly environment along with extending the robot application. In this paper, an ethernet-based cooperative control framework was proposed. The cooperative control of robots can multiply the handling capacity of robot system, and make it possible to implement jigless cooperation, due to realization of trajectory-synchronized movement between a master robot and slave robots. Coordinate transformation was used to relate among robots in a common coordinate. An optimized ethernet protocol of HiNet was developed to maximize the speed of communication and to minimize the error of synchronous movement. The proposed algorithm and optimization of network protocol was tested in several class of robots.

• Journal of information and communication convergence engineering
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• v.7 no.3
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• pp.281-285
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• 2009

Mobile robot has various sensors for describing the external world. The ultrasonic sensor widely applied to the most mobile robot to detect the obstacle and environment owing to low cost, its easy to use. However, ultrasonic sensor has major problems: the uncertainty information of sensor, false readings caused by specular reflection, multi path effect, low angular resolution and sensitivity to changes in temperature and humidity. This paper describes a sensor system for map building of mobile robot. It was made of low cost PSD (Position Sensitive Detector) sensor array and high speed RISC MPU. PSD sensor is cost effective and light weighting but its output signal has many noises. We propose heuristic S/W filter to effectively remove these noises. The developed map building sensor system was equipped on a mobile robot and was compared with ultrasonic sensor through field test.

• The Journal of the Korea institute of electronic communication sciences
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• v.17 no.3
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• pp.537-542
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• 2022

There is a limit to the current indoor air quality (IAQ) monitoring method using fixed sensors and devices. A mobile robot for IAQ monitoring was developed by mounting IAQ monitoring sensors on a small multi-legged robot to minimize vibration and protect the sensors from vibration while robot moves. The developed mobile robot used a simple gait mechanism to enable the robot to move forward, backward, and turns only with the combination of forward and reverse rotation of the two DC motors. Due to the simple gait mechanism, not only IAQ data measurements but also gait motion control were processed using a single Arduino board. Because the mobile robot has small number of electronic components and low power consumption, a relatively low-capacity battery was mounted on the robot to reduce the weight of the battery. The weight of mobile robot is 1.4kg including links, various IAQ sensors, motors, and battery. The gait and turning speed of the mobile robot was measured at 3.75 cm/sec and 14.13 rad/sec. The maximum height where the robot leg could reach was 33 mm, but the mobile robot was able to overcome the bumps up to 24 mm.