• Proceedings of the KSME Conference
• /
• 2001.06b
• /
• pp.607-612
• /
• 2001

Rotary ultrasonic motors are based on the traveling wave generated by piezo materials attached on the stator. Large scale model of an annular ring was built to understand the fundamental mechanism involved in the rotary ultrasonic motors. Traveling wave on the structure can be generated by superposing two standing waves. Precise matching of the amplitudes and phase shift between two standing waves in time and space is the key to the success of generating a traveling wave.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2000.11a
• /
• pp.661-666
• /
• 2000

Traveling wave on the structure can be generated by superposing two standing waves. Precise matching of the amplitudes and phase shift between two standing waves in time and space is the key to the success of generating a traveling wave. The principle of generating a traveling wave on the structure is utilized in the construction of linear and rotary type ultrasonic motors. This paper demonstrates experimentally generating a traveling wave on the simply supported beam.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.16 no.2
• /
• pp.222-227
• /
• 2006

Recently the research for Traveling Salesman Problem (TSP) using DNA computing with massive parallelism has been. However, there were difficulties in real biological experiments because the conventional method didn't reflect the precise characteristics of DNA when it express graph. Therefore, we need DNA sequence generation algorithm which can reflect DNA features and reduce biological experiment error. In this paper we proposed a DNA sequence generation algorithm that applied DNA coding method of evolution model to DNA computing. The algorithm was applied to TSP, and compared with a simple genetic algorithm. As a result, the algorithm could generate good sequences which minimize error and reduce the biologic experiment error rate.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.1847-1852
• /
• 2003

Ultrasonic motors have many excellent performances. A variety of ultrasonic motors has been developed and used as an actuator in motion control systems. However, this motor has nonlinear characteristics. Therefore, it is difficult to achieve the precise position control system incorporating with the ultrasonic motor. This paper describes a position control scheme for traveling-wave type ultrasonic motor using a pseudo-derivative control with feedforward gains (PDFF) controller designed by the coefficient diagram method (CDM). The PDFF control system satisfies both the tracking and regulation performances, which are the most important for the precise position control system. The CDM is shown to be an efficient and simple method to design the parameters of PDFF controller. The effectiveness of the proposed control system is demonstrated by experiments.

• Korean Journal of Agricultural Science
• /
• v.38 no.2
• /
• pp.343-347
• /
• 2011

Precise traveling and tillage operation using an autonomous tractor is difficult with the data from the Geographic Information System(GIS) because it does not include the data of the width and inclination of the field to work. The minimum turing radius of the tractor could be different from the value presented by the tractor maker due to the moisture content of the field soil or operators' skill. Two programs were developed to process data obtained with the tillage path measuring system: one for recognizing coordinates of the 4 field corners, and the other for recognizing the minimum turning radius of the tractor.

• The Transactions of the Korean Institute of Power Electronics
• /
• v.8 no.5
• /
• pp.418-426
• /
• 2003

To show a retina shape and thickness on the computer monitor, a laser has been used in Scanning Laser Ophthalmoscope(SLO) equipment using the traveling difference. This method requires exact synchronous control of laser traveling in optic system to show a clear 3-dimensional image of retina To obtain this image, this exact synchronism is very important for making the perfect plane scanning. In this study, a high speed and synchronous control of the galvanometer to make 3-dimensional retina image is presented. For the more, deadbeat load torque observer is added to the PI controller for compensation of the position error arisen in the high speed control. As a result, the proposed control system has a robust and precise response against the load torque variation appeared in high speed control. A stability and usefulness are verified by the computer simulation and the experiment.

• The Journal of Korea Robotics Society
• /
• v.2 no.1
• /
• pp.40-47
• /
• 2007

Recently, with the development of service robots and with the new concept of ubiquitous world, the position estimation of mobile objects has been raised to an important problem. As pre-liminary research results, some of the localization schemes are introduced, which provide the absolute location of the moving objects subjected to large errors. To implement a precise and convenient localization system, a new absolute position estimation method for a mobile robot in indoor environment is proposed in this paper. Design and implementation of the localization system comes from the usage of active beacon systems (based upon RFID technology). The active beacon system is composed of an RFID receiver and an ultra-sonic transmitter: 1. The RFID receiver gets the synchronization signal from the mobile robot and 2. The ultra-sonic transmitter sends out the traveling signal to be used for measuring the distance. Position of a mobile robot in a three dimensional space can be calculated basically from the distance information from three beacons and the absolute position information of the beacons themselves. Since it is not easy to install the beacons at a specific position precisely, there exists a large localization error and the installation time takes long. To overcome these problems, and provide a precise and convenient localization system, a new auto calibration algorithm is developed in this paper. Also the extended Kalman filter has been adopted for improving the localization accuracy during the mobile robot navigation. The localization accuracy improvement through the proposed auto calibration algorithm and the extended Kalman filter has been demonstrated by the real experiments.

• The Journal of Korea Robotics Society
• /
• v.18 no.3
• /
• pp.251-259
• /
• 2023

In the path traveling of differential-drive robots, the steering controller plays an important role in determining the path-following performance. When a robot with a pure-pursuit algorithm is used to continuously drive a right-angled driving path in an unstructured environment without turning in place, the robot cannot accurately follow the right-angled path and stops driving due to the ground and motor load caused by turning. In the case of pure-pursuit, only the current robot position and the steering angle to the current target path point are generated, and the steering component does not reflect the speed plan, which requires improvement for precise path following. In this study, we propose a driving algorithm for differentially driven robots that enables precise path following by planning the driving speed using the radius of curvature and fusing the planned speed with the steering angle of the existing pure-pursuit controller, similar to the Model Predict Control control that reflects speed planning. When speed planning is applied, the robot slows down before entering a right-angle path and returns to the input speed when leaving the right-angle path. The pure-pursuit controller then fuses the steering angle calculated at each path point with the accelerated and decelerated velocity to achieve more precise following of the orthogonal path.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2003.09a
• /
• pp.346-349
• /
• 2003

For a traveling crane, various control methods such as neural network predictive control and TDOFPID(Two Degree of Freedom Proportional Integral Derivative) are studied. So in this paper, we proposed improved navigation method to reduce transfer time and sway with anti-collision path for avoiding collision in its movement to the finial coordinate. And we constructed the NNPPID(Neural Network Predictive PID) controller to control the precise move and speedy navigation. The proposed predictive control system is composed of the neural network predictor, TDOFPID controller, and neural network self-tuner. We analyzed ASC(Automated Stacking Crane) system and showed some computer simulations to prove excellence of the proposed controller than other conventional controllers.

• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.4
• /
• pp.343-352
• /
• 2012

To follow a sound source by a mobile robot, the relative position and orientation of the sound source from the mobile robot have been estimated using a microphone array. In this research, the difference among the traveling times of the sound source to each of three microphones has been used to calculate the distance and orientation of the sound source from the mobile robot which carries the microphone array. The cross-correlation between two signals has been applied for detecting the time difference between two signals, which provides reliable and precise value of the time difference comparing to the conventional methods. To generate the tracking direction to the sound source, fuzzy rules are applied and the results are used to control the mobile robot in a real-time. The efficiency of the proposed algorithm has been demonstrated through the real experiments comparing to the conventional approaches.