• 한국정밀공학회지
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• 제27권2호
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• pp.60-69
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• 2010

Lookup-Table (LUT) based fuzzy controller for obstacle avoidance enhances operations faster in multiple obstacles environment. An LUT based fuzzy controller with Positive/Negative (P/N) fuzzy rule base consisting of 18 rules was introduced in our paper$^1$ and this paper shows a 50-rule P/N fuzzy controller for enhancing performance in obstacle avoidance. As a rule, the more rules are necessary, the more buffers are required. This paper suggests LUT sharing method in order to reduce LUT buffer size without significant degradation of performance. The LUT sharing method makes buffer size independent of the whole fuzzy system's complexity. Simulation using MSRDS(MicroSoft Robotics Developer Studio) evaluates the proposed method, and in order to investigate its performance, experiments are carried out to Pioneer P3-DX in the LabVIEW environment. The simulation and experiments show little difference between the fully valued LUT-based method and the LUT sharing method in operation times. On the other hand, LUT sharing method reduced its buffer size by about 95% of full valued LUT-based design.

• International Journal of Control, Automation, and Systems
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• 제4권5호
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• pp.601-614
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• 2006

In this paper, a study on task assignment strategies for a complex real-time network system is presented. Firstly, two task assignment strategies are proposed to improve previous strategies. The proposed strategies assign tasks with meeting end-to-end real-time constraints, and also with optimizing system utilization through period modulation of the tasks. Consequently, the strategies aim at the optimizationto optimize of system performance with while still meeting real-time constraints. The proposed task assignment strategies are devised using the genetic algorithmswith heuristic real-time constraints in the generation of new populations. The strategies are differentiated by the optimization method of the two objectives-meeting end-to-end real-time constraints and optimizing system utilization: the first one has sequential genetic algorithm routines for the objectives, and the second one has one multiple objective genetic algorithm routine to find a Pareto solution. Secondly, the performances of the proposed strategies and a well-known existing task assignment strategy using the BnB(Branch and Bound) optimization are compared with one other through some simulation tests. Through the comparison of the simulation results, the most adequate task assignment strategies are proposed for some as system requirements-: the optimization of system utilization, the maximization of running tasktasks, and the minimization of the number of network node nodesnumber for a network system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.329-334
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• 1998

This work is concerned with the problem of tracking a maneuvering target. In this paper, an error monitoring and recovery method of perception net is utilized to improve tracking performance for a highly maneuvering tar-get. Many researches have been performed in tracking a maneuvering target. The conventional Interacting Multiple Model (IMM) filter is well known as a suboptimal hybrid filter that has been shown to be one of the most cost-effective hybrid state estimation scheme. The subfilters of IMM can be considered as fusing its initial value with new measurements. This approach is also shown in this paper. Perception net based error monitoring and recovery technique, which is a kind of geometric data fusion, makes it possible to monitor errors and to calibrate possible biases involved in sensed data and extracted features. Both detecting a maneuvering target and compensating the estimated state can be achieved by employing the properly implemented error monitoring and recovery technique. The IMM filter which employing the error monitoring and recovery technique shows good tracking performance for a highly maneuvering target as well as it reduces maximum values of estimation errors when maneuvering starts and finishes. The effectiveness of the pro-posed method is validated through simulation by comparing it with the conventional IMM algorithm.

• Transactions on Control, Automation and Systems Engineering
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• 제3권1호
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• pp.1-9
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• 2001

The promise of improved productivity and quality has lead to numerous research investigations in machining process monitoring and control. Recent studies have demonstrated that careful attention must be paid to the regulation of multiple process modules within a single operation such that each module performs its function properly and adverse interactions between modules do not occur. This had lead to the development of supervisory control; particularly to the development of methodologies to systemati-cally construct and implement these controllers. However, no research study has investigated the effect of the production environ-ment on the design of supervisor controllers. In this paper, the design of supervisory controllers for various production environ-ment is studied. The design approach given in Landers and Ulsoy(1998) is applied to construct two supervisory machining control-lers that are experimentally implemented in a face milling operation. Comparisons with an experimental implementation without process control illustrate the benefits of utilizing process controllers that are coordinated properly. The results also show that the given design approach may be used to construct supervisory controllers for different types of production environments.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제7권3호
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• pp.198-204
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• 2007

In mobile robotics, ultrasonic sensors became standard devices for collision avoiding. Moreover, their applicability for map building and navigation has exploited in recent years. In this paper, as the preliminary step for developing a multi-purpose autonomous carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as ultrasonic sensor, IR sensor for mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. The global map building based on multi-sensor data fusion is applied for recognition an obstacle free path from a starting position to a known goal region, and simultaneously build a map of straight line segment geometric primitives based on the application of the Hough transform from the actual and noisy sonar data. We will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, Hough transform, since there exist several recent thorough books and review paper on this paper. Experimental results with a real Pioneer DX2 mobile robot will demonstrate the effectiveness of the discussed methods.

• Structural Engineering and Mechanics
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• 제57권5호
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• pp.809-821
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• 2016

Concentric-tube continuum robots have formed an active field of research in robotics because of their manipulative exquisiteness essential to facilitate delicate surgical procedures. A set of concentric tubes with designed initial curvatures comprises a robot whose workspace can be controlled by relative translations and rotations of the tubes. Kinematic models have been widely used to predict the movement of the robot, but they are incapable of describing its time-dependent hysteretic behaviors accurately particularly when snapping occurs. To overcome this limitation, here we present a finite element modeling approach to investigating the dynamics of concentric-tube continuum robots. In our model, each tube is discretized using MITC shell elements and its transient responses are computed implicitly using the Bathe time integration method. Inter-tube contacts, the key actuation mechanism of this robot, are modeled using the constraint function method with contact damping to capture the hysteresis in robot trajectories. Performance of the proposed method is demonstrated by analyzing three specifications of two-tube robots including the one exhibiting snapping phenomena while the method can be applied to multiple-tube robots as well.

• Advances in robotics research
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• 제1권1호
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• pp.81-99
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• 2014

This paper contributes towards the development of a computer vision system for telemonitoring of industrial articulated robotic arms. The system aims to provide precision real time measurements of the joint angles by employing low cost cameras and visual markers on the body of the robot. To achieve this, a mathematical model that connects image features and joint angles was developed covering rotation of a single joint whose axis is parallel to the visual projection plane. The feature that is examined during image processing is the varying area of given circular target placed on the body of the robot, as registered by the camera during rotation of the arm. In order to distinguish between rotation directions four targets were used placed every $90^{\circ}$ and observed by two cameras at suitable angular distances. The results were deemed acceptable considering camera cost and lighting conditions of the workspace. A computational error analysis explored how deviations from the ideal camera positions affect the measurements and led to appropriate correction. The method is deemed to be extensible to multiple joint motion of a known kinematic chain.

• 디지털융복합연구
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• 제17권10호
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• pp.233-242
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• 2019

수많은 공간지각 연구 결과, Euclidean 3-D 구조는 양안 입체시, 움직임, 입체시와 움직임의 결합, 또는 여러 광학 정보의 결합으로도 복구될 수 없다는 사실이 밝혀졌다. 그러나 인간은 이러한 부정확한 공간지각에도 불구하고 특정 과제를 수행하는 데는 어려움이 전혀 없다. 우리는 인공지능과 컴퓨터 비전에 인간의 기술과 능력을 적용해 왔지만 이러한 기계들은 여전히 인간의 능력보다 훨씬 뒤떨어져 있다. 따라서 우리는 인간이 공간의 깊이를 어떻게 지각하는지, 과제를 수행하기 위해 어떠한 정보들을 사용하여 3차원 공간을 정확하게 지각하는지 이해해야 한다. 이 논문의 목적은 미래에 더욱 발전된 인공지능 로봇에 인간의 능력을 적용하기 위해 공간지각 문헌을 검토하는 것이다.

• ETRI Journal
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• 제45권5호
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• pp.836-846
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• 2023

Mobile robots are used in modern life; however, object recognition is still insufficient to realize robot navigation in crowded environments. Mobile robots must rapidly and accurately recognize the movements and shapes of pedestrians to navigate safely in pedestrian-rich spaces. This study proposes real-time, accurate, three-dimensional (3D) multi-pedestrian detection and tracking using a 3D light detection and ranging (LiDAR) point cloud in crowded environments. The pedestrian detection quickly segments a sparse 3D point cloud into individual pedestrians using a lightweight convolutional autoencoder and connected-component algorithm. The multi-pedestrian tracking identifies the same pedestrians considering motion and appearance cues in continuing frames. In addition, it estimates pedestrians' dynamic movements with various patterns by adaptively mixing heterogeneous motion models. We evaluate the computational speed and accuracy of each module using the KITTI dataset. We demonstrate that our integrated system, which rapidly and accurately recognizes pedestrian movement and appearance using a sparse 3D LiDAR, is applicable for robot navigation in crowded spaces.

• 제어로봇시스템학회논문지
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• 제22권9호
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• pp.705-709
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• 2016

Micro-electro-mechanical systems (MEMS) gyroscopes are widely used in various robot applications. However, these conventional gyroscopes need to vibrate the proof mass using a built-in actuator at a fixed resonance frequency to sense the Coriolis force. When a robot is not moving, the meaningless vibration of the gyroscope wastes power. In addition, this continuous vibration makes the sensor vulnerable to external sound waves with a frequency close to the proof-mass resonance frequency. In this paper, a feasibility study of a new type of gyroscope inspired by insect halteres is presented. In dipterous insects, halteres are a biological gyroscope that measures the Coriolis force. Wing muscles and halteres are mechanically linked, and the halteres oscillate simultaneously with wing beats. The vibrating haltere experiences the Coriolis force if the insect is going through a rotational motion. Inspired by this haltere structure, a gyroscope using a thin mast integrated with a robot actuation mechanism is proposed. The mast vibrates only when the robot is moving without requiring a separate actuator. The Coriolis force of the mast can be measured with an accelerometer installed at the tip of the mast. However, the signal from the accelerometer has multiple frequency components and also can be highly corrupted with noise, such that raw data are not meaningful. This paper also presents a suitable signal processing technique using the amplitude modulation method. The feasibility of the proposed haltere-inspired gyroscope is also experimentally evaluated.