• Journal of Institute of Control, Robotics and Systems
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• v.17 no.5
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• pp.451-459
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• 2011

Fundamentally, there are 5 systems are needed for autonomous navigation of unmanned ground vehicle: Localization, environment perception, path planning, motion planning and vehicle control. Path planning and motion planning are accomplished based on result of the environment perception process. Thus, high reliability of localization and the environment perception will be a criterion that makes a judgment overall autonomous navigation. In this paper, via map matching using vehicle dynamic model and LIDAR sensors, replace high price localization system to new one, and have researched an algorithm that lead to robust autonomous navigation. Finally, all results are verified via actual unmanned ground vehicle tests.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.10
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• pp.972-976
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• 2015

The objective of this research is to verify the quantitative efficiency of a bimanual robotic task. Bimanual robots can realize dexterous and complicated motions using two cooperating arms. However, its motion planning and control method are not simple for implementing flexible tasks such as assembly. In this paper, the proposed motion planning method is used to find an optimal solution satisfying a designed cost function and constraints with regard to the kinematics and redundancy of the bimanual robot. The simulation results show that the lifetime of the manipulator can be changed by the proposed cost function consisting of angular velocity and angular acceleration of each joint in the same assembly task.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.72-75
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• 1988

Due to the fact that the set point regulation scheme by the variable structure control method concerns only the initial and final locations of a manipulator, many constraints may exist in the application of path tracking with obstracle avoidance. The variable structure parameter should be selected in the trajectory planning step by satisfying the constraints of the travel time and the path deviations This paper presents the selection algorithm of the variable structure parameters with the constraints of the system dynamics and the travel time and the path deviation. This study makes unify the trajectory planning and tracking control using the variable structure control method.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.11
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• pp.1003-1012
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• 2000

When a robot hand grasp an object, the number of ways to grasp it stably are infinite and thus an optimal grasp planning is needed to find the optimal grasp points for satisfying the objective of the given task. In this paper, we first define some grasp indices to evaluate the quality of each feasible grasp and then a weighted composite grasp index by combining all of the grasp indices is also defined. Next, we propose a method to find the optimal grasp points of the given object by comparing the defined weighted composite grasp index for each feasible grasp points. By simulation results, we show the effectiveness of the proposed optimal grasp planning method and also discuss the trend of each grasp index as the grasp polygon.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.267-274
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• 2012

We proposed the KPP (Korea university Path Planner) in our previous works. The KPP is the path planning scheme of a car-like mobile robot in parking environment. The objective of this paper is to investigate the advantage of the KPP through the quantitative and qualitative analysis compared with conventional RRT. For comparison, we proposed travel time for performance index. This paper shows that the KPP shows outstanding performances from the viewpoint of travel time and computational efficiency compared with RRT.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.5
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• pp.593-599
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• 1999

A mobile robot in FMS environment should be able to nevigate itself. Therefore, path planning is necessary for the mobile robot to perform its tasks without being lost. Path planning using a network model gives oprimal paths to every pair of nodes but building this model demands accurate information of environments. In this paper, a method to build a network model using sonar sensors is presented. The main idea is to build a quad tree model by using sonar sensors and convert the model to a network model for path planning. The new method has been implemented on a mobile robot. Experimental results show that the mobile robot constructs an accurate network model using inaccurate sonar data.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.154-159
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• 1989

This paper presents a motion planning algorithm for conveyor tracking. We formulate the problem as the linear quadratic tracking problem in optimal control theory and solve it through dynamic programming. In the proposed algorithm, the steady-state tracking error is eliminated completely, and the joint torque, velocity, acceleration, and jerks are considered as some constraints. Numerical examples are then presented to demonstrate the utility of the proposed motion planning algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.7
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• pp.836-840
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• 1999

Linear motion and angular motion in task space are handled separately in joint velocity planning for redundant robot manipulators. In solving inverse kinematic equations with given joint velocity limits, we consider the order of priority for linear motion and angular motion. The proposed method will be useful in such applications where only linear motions are important than angular motions or vice versa.

• Parasites, Hosts and Diseases
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• v.55 no.1
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• pp.55-60
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• 2017

Fascioliasis is a foodborne zoonotic parasitic disease. We report 4 cases occurring in the same family, in whom diagnosis of acute fascioliasis was established after series of tests. One case was hospitalized with fever, eosinophilia, and hepatic lesions. MRI showed hypodense changes in both liver lobes. The remaining 3 cases presented with the symptom of stomachache only. Stool analysis was positive for Fasciola eggs in 2 adult patients. The immunological test and molecular identification of eggs were confirmed at the National Institute of Parasitic Diseases, Chinese Center for Disease Control and Prevention, Shanghai, China. The results of serological detection were positive in all the 4 patients. DNA sequencing of PCR products of the eggs demonstrated 100% homology with ITS and cox1 of Fasciola hepatica. The conditions of the patients were not improved by broad-spectrum anti-parasitic drugs until administration of triclabendazole.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2007.04a
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• pp.78-83
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• 2007

The paper focuses on the establishment of optimized bucket path planning and trajectory control designated for force-reflecting backhoe reacting to excavation environment, such as potential obstacles and ground characteristics. The developed path planning method can be used for precise bucket control, and more importantly for obstacle avoidance which is directly related to safety issues. The platform of this research was based on conventional papers regarding the kinematic model of excavator. Jacobian matrix was constructed to find optimal joint angles and rotation angles of bucket from position and orientation data of excavator. By applying Newton-Raphson method optimal joint angles and bucket orientation were derived simultaneously in the way of minimizing positional errors of excavator. The model presented in this paper was intended to function as a cornerstone to build complete and advanced path planning of excavator by implementing soil mechanics and further study of excavator dynamics together.