• 제어로봇시스템학회:학술대회논문집
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• 1987.10a
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• pp.863-869
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• 1987

INFOBUS, which has been designed as a system bus of a multiprocessor system, will be introduced. And the concepts of the multiple transfer and ORed write transfer will be described. These concepts make INFOBUS to be well suited for use as the system bus of the multiprocessor based programmable controller(MBPC). In addition, the mean data transfer time through INFOBUS, which is one of the most significant performance of a bus, will be obtained by analysis and simulation. Next, MBPC which uses INFOBUS as its system bus will be introduced, and some basic characteristics of MBPC will be described. The construction of exact model for MBPC will be given and simulated using SDL/SIM package. The reference system of our model will be briefly described also. Some results from the simulation will be given and validated.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.963-968
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• 2005

For worm robots applied to pipe inspection and colonoscopy, earthworm-like robots that have a locomotion pattern in backward wave or green caterpillar-like robots that have a locomotion pattern in forward wave have been studied widely. Note however that a method using a single and fixed locomotion pattern is not desirable in the sense of mobility cost, if there are various changes in pipe diameter. In this paper, locomotion patterns are considered for a semi-looper-like robot, which adopts a locomotion pattern of green caterpillars as the basic motion and sometimes can realize a locomotion pattern of looper, whose motion approximately consists of two rhythms or relatively low rhythm.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2402-2406
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• 2005

A collision query determines the intersection between given objects, and is used in computer-aided design and manufacturing, animation and simulation systems, and physically-based modeling. Bounding volume hierarchies are one of the simplest and most widely used data structures for performing collision detection on complex models. In this paper, we present hierarchy of oriented rounded bounding volume for fast proximity queries. Designing hierarchies of new bounding volumes, we use to combine multiple bounding volume types in a single hierarchy. The new bounding volume corresponds to geometric shape composed of a core primitive shape grown outward by some offset such as the Minkowski sum of rectangular box and a sphere shape. In the experiment of parallel close proximity, a number of benchmarks to measure the performance of the new bounding box and compare to that of other bounding volumes.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2435-2439
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• 2005

In case of visual sensing systems with multiple mirrors, systematic errors need to be reduced by the system calibration and the mirror position adjustment in order to enhance system measurement accuracy. In this paper, a self calibration method is presented for a visual sensing system designed to measure the three-dimensional information in deformable peg-in-hole tasks. It is composed of a CCD camera and a series of mirrors including two pyramidal mirrors. By using an image of the inner pyramidal mirror taken by the system, the error parameters of the inner pyramidal mirror could be calibrated or adjusted. Also the influence of the plane mirrors is investigated.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2179-2182
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• 2005

Recently, optical 3D scanners are frequently used for inspection of parts, assembly and manufacturing tooling. One of the advantages is being able to measure a large area fast and accurately. Owing to recent advances in high-resolution image sensing technology, high power illumination technology, and high speed microprocessors, the accuracy and resolution of optical 3D scanners are being improved rapidly. In order to measure the entire geometry of objects, multiple scans have to be performed in various setups by moving either the objects or the scanner. This paper introduces novel methods to measure the entire geometry of objects by automatically changing the setups and then aligning the scanned data in a single coordinate system.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2499-2502
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• 2005

Universal Serial Bus (USB) is one of the most popular communication interfaces. When USB is used in more extended range, especially configuring home network by connecting multiple digital devices each other, USB interface uses the bandwidth in the way of Time Division Multiplexing (TDM) so that the bottleneck of bus bandwidth can be brought under the heavy traffic. In this paper, the more effective usage of bus bandwidth to overcome this situation is introduced. Basically, in order to realize the system for transferring real-time moving picture data among digital information devices, we analyze USB transfer types and descriptors and introduce the method to enhance the detailed performance of isochronous transfer that is one of USB transfer types.

• International Journal of Control, Automation, and Systems
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• v.5 no.5
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• pp.570-576
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• 2007

This paper presents a hexagon-based Q-leaning algorithm to find a hidden targer object with multiple robots. An experimental environment was designed with five small mobile robots, obstacles, and a target object. Robots went in search of a target object while navigating in a hallway where obstacles were strategically placed. This experiment employed two control algorithms: an area-based action making (ABAM) process to determine the next action of the robots and hexagon-based Q-learning to enhance the area-based action making process.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.67.3-67
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• 2001

A fuzzy control strategy is described which is utilized to control the joint angle and tip deflection in single flexible manipulator. In this paper, an existing model for a single flexible manipulator is used f3r the initial development of an FLC. One FLC is designed to govern the joint angle of the manipulator as it is rotated from one position to another, and a second FLC is designed to attenuate the tip deflection which result from joint angle body motion. Reference Trajectory Command is an important method to reduce vibration in flexible beam. This paper presents a very simple command control shaping which eliminates multiple mode residual vibration in a flexible beam combined fuzzy controller ...

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.56.6-56
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• 2001

The FDAS(Flight Data Analysis & Animation System) is a comprehensive analysis system designed for the improvement of flight safety. FDAS provides decoding, analysis and animation tools that can be used for investigation of data origination primarily from Flight Data Recoders(FDRs), Quick Access Recoders(QARs), Using FOQA(Flight Operation Quality Assurance) Data Analysis, an analyst can perform a variety of functions including data smoothing, interpolation, differentiation, integration, calculator function, flight path generation, performance routines, as well as user-programmed functions. Utilizing data captured and processed by our FDAS software module, FDAS provides high-fidelity 3-D aircraft views and instruments views. Multiple windows enable you to view the situation from a variety of perspectives, including out-of-window, chase plane ...

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.104.3-104
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• 2001

This paper develops a control approach to generic formation tasks of multiple mobile robots with inaccurate sensor information. Inaccurate sensor information means that all the robots have only local sensors which cannot accurately measure absolute distances and directions of objects. The control logic is developed considering generic situations in order to adapt to increasing number of robots which participate in the formation. Petri nets are used for modeling and design of the control logic, which can visualize the control models and make it easy to check the states of each robot. Physically homogenous mobile robots are designed and built to evaluate the developed logic. Each robot is equipped with eighteen infrared sensors and a UHF transceiver module. The developed control ...