• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2000.11b
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• pp.354-362
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• 2000

In Korea, researches on year-round leaf vegetables production system are in progress, most of them focused on environmental control. Therefore, automation technologies for harvesting, transporting, and grading are in great demand. A robot system for harvesting lettuces, composed of a 3-DOF (degree of freedom) manipulator, an end-effector, a lettuce feeding conveyor, an air blower, a machine vision system, six photoelectric sensors, and a fuzzy logic controller, was developed. A fuzzy logic control was applied to determine appropriate grip force on lettuce. Leaf area index and height were used as input variables and voltage as an output variable for the fuzzy logic controller. Success rate of the lettuce harvesting was 94.12%, and average harvesting time was approximately 5 seconds per lettuce.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.590-596
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• 1994

In a CGL(Continuous Galvanizing Line) in steel making plants, zinc-coated steel sheets are produced. These sheets are used where long running corrosion resistivity is required. During the coating process top dross is produced, being harmful to the quality of the coating. To collect and remove this top dross, an automation system is developed consisting of a robot and its carriage system, a pot level sensor, a system controller, and specialtools. Forthe first, the level of the pot must be measured and fed back to the robot controller to avoid submersion of the robot hand in the hot pot. In this paper,acoustic and laser distance sensors are tested for the appropriate pot lvel sensor, especially the former in the view point of hot environment.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.10a
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• pp.96-101
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• 2000

In this paper, we have proposed a new approach to the design of robot vision system to develop the technology for the automatic test and assembling of precision mechanical and electronic parts for the factory automation. In order to perform real time implementation of the automatic assembling tasks in the complex processes, we have developed an intelligent control algorithm based-on neural networks control theory to enhance the precise motion control. Implementing of the automatic test tasks has been performed by the real-time vision algorithm based-on TMS320C31 DSPs. It distinguishes correctly the difference between the acceptable and unacceptable defective item through pattern recognition of parts by the developed vision algorithm. Finally, the performance of proposed robot vision system has been illustrated by experiment for the similar model of fifth cell among the twelve cell for automatic test and assembling in S company.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.11a
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• pp.147-148
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• 2008

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.106.2-106
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• 2002

$\textbullet$ Contents 1. Introduction $\textbullet$ Contents 2. System Configuration $\textbullet$ Contents 3. Robot Kinematics $\textbullet$ Contents 4. Shoe outsole shape display program and creating data $\textbullet$ Contents 5. Conclusions

• International Journal of Control, Automation, and Systems
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• v.6 no.4
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• pp.607-612
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• 2008

This paper proposes a robot visual servo approach based on image appearance and a wavelet function neural network. The inputs of the wavelet neural network are changes of image features or the elements of image appearance vector, and the outputs are changes of robot joint angles. Image appearance vector is calculated by using eigen subspace transform algorithm. The proposed approach does not need a priori knowledge of the robot kinematics, hand-eye geometry and camera models. The experiment results on a real robot system show that the proposed method is practical and simple.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.12
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• pp.1222-1229
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• 2007

In this paper, we propose a new obstacle negotiation method for the rescue robot. The rescue robot has a variable geometry single-tracked mechanism, so it can maximize a contact length with ground for the adaptability to off-road and pursue a stable system due to the lower center of gravity. In this research, we add the basis of autonomous navigation, driving mode control based on obstacle detection, to the robot to realize automation of mode transformation. Obstacle detection using PSD(Position Sensitive Device) infrared sensors gives active transformation of the track shape. Finally, experimental results about mentioned are presented.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.2
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• pp.121-129
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• 2000

The robotic automation in NonDestructive Testing(NDT) is a promising field of research and it helps to expand the applications of NDT enormously. Especially, in the case of pipelines which are widely used in various industrial facilities, it is required to secure adequate ways of inspection in the usual maintenance activitites. In this paper, we present a robot system for inpipe inspection of underground urban gas pipelines. The robot is configured as an articulated structure like a snake with a tether cable. Two active driving vehicles are located in front and rear of the system, respectively and passive modules such as a NonDestructive Testing module and a control module are chained between the active vehicles. The proposed system has outstanding mobility by employing a new steering mechanism called Double Active Universal Joint, which makes it possible to cope with complicated configurations of underground pipelines. Characteristic features of the system are described and the construction of the system is briefly outlined.

• International Journal of Control, Automation, and Systems
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• v.1 no.3
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• pp.263-270
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• 2003

This paper deals with a control technique of eliminating the transient vibration of a waist axis of an articulated robot. This technique is based on a model-based control in order to establish the damping effect on the mechanical part. The control model is related to the velocity control loop, and it is composed of reduced-order electrical and mechanical parts. Using this model, the velocity of the load is estimated, which is converted to the motor shaft. The difference between the estimated load speed and the motor speed is calculated dynamically, and it is added to the velocity command to suppress the transient vibration of a waist axis of the robot arm. The function of this technique is to increase the cut-off frequency of the system and the damping ratio at the driven machine part. This control model is easily obtained from design or experimental data and its algorithm can be easily installed in a DSP. This control technique is applied to a waist axis of an articulated robot composed of a harmonic drive gear reducer and a robot arm with 5 degrees of freedom. Simulations and experiments show satisfactory control results to reduce the transient vibration at the end-effector.

• The Journal of Korea Robotics Society
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• v.19 no.1
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• pp.23-30
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• 2024

This paper studies a GPS error filtering method that takes into account the continuity of the ongoing path to enhance the safety of autonomous agricultural mobile robots. Real-Time Kinematic Global Positioning System (RTK-GPS) is increasingly utilized for robot position evaluation in outdoor environments due to its significantly higher reliability compared to conventional GPS systems. However, in orchard environments, the robot's current position obtained from RTK-GPS information can become unstable due to unknown disturbances like orchard canopies. This problem can potentially lead to navigation errors and path deviations during the robot's movement. These issues can be resolved by filtering out GPS information that deviates from the continuity of the waypoints traversed, based on the robot's assessment of its current path. The contributions of this paper is as follows. 1) The method based on the previous waypoints of the traveled path to determine the current position and trajectory. 2) GPS filtering method based on deviations from the determined path. 3) Finally, verification of the navigation errors between the method applying the error filter and the method not applying the error filter.