• Journal of the Korea Society for Simulation
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• v.15 no.3
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• pp.61-67
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• 2006

This paper provides a systematic way of integrating human intelligence and autonomous precision of robots to achieve the highest possible performance of a cooperating robot system. Adjustable autonomy, which deals with the combination of human and robotic skills, has the potential to bridge the gap which leaves many tasks suited to robotics beyond the reach of existing technology. Especially we will show that relevant human assistance or intervention will increase system performance by improving the exception handling capability, simplifying autonomous operation, and boosting speed and reliability. To support the usefulness of our scheme, a series of experiments were conducted with three cooperating robots which work together to dock both ends of a long suspended beam into stanchions.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2346-2349
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• 2005

Distributed Autonomous Robotic System (DARS) is defined as a system that independent autonomous robots in the restricted environments infer their status from pre-assigned conditions and operate their jobs through the cooperation with each other. In the DARS, a robot contains sensor part to percept the situation around themselves, communication part to exchange information, and actuator part to do a work. Especially, in order to cooperate with other robots, communicating with other robots is one of the essential elements. Because Bluetooth has many advantages such as low power consumption, small size module package, and various standard protocols, Bluetooth is rated as one of the efficient communicating technologies which can apply to small-sized robot system. In this paper, we will develop Bluetooth communicating system for autonomous robots such as DARS robots. For this purpose, The Bluetooth communication system must have several features. The first, this system should be separated from other robot parts and operate spontaneously and independently. In other words, this communication system should have the ability to organize and maintain and reorganize a network scheme. The next, this system had better support any kinds of standard interfaces in order to guarantee flexible applicability to other embedded system. We will discuss how to construct and what kind of procedure to develop the network system.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2002.11a
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• pp.127-132
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• 2002

This paper proposes a sensor-fusion technique where the data sets for the previous moments are properly transformed and fused into the current data sets to enable accurate measurement, such as, distance to an obstacle and location of the service robot itself. In the conventional fusion schemes, the measurement is dependent on the current data sets. As the results, more of sensors are required to measure a certain physical parameter or to improve the accuracy of the measurement. However, in this approach, instead of adding more sensors to the system the temporal sequence of the data sets are stored and utilized for the measurement improvement. Theoretical basis is illustrated by examples and the effectiveness is proved through the simulations. finally, the new space and time sensor fusion (STSF) scheme is applied to the control of a mobile robot in an unstructured environment as well as structured environment.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2008.10a
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• pp.555-558
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• 2008

For trying to frontal attack of new solution by fusion of technical tasks and conditions with it's solving methods of the essential tasks of marine resource development and environmental conservation in addition with elements of electronic high-technologies, the skimmer robot was proposed by using of oil spill disaster prevention and its disposal system with sequentially circular collection type of magnetic oil spill adsorbent powder and fabrics on the electronic barge robot for the scheme of sustainable development of environment-friendly technology. It was verified from the experiment of electronic barge robot demonstrator that the skimmer system of magnetic oil spill adsorbent powder and fabrics was very effective and useful technique to collect oil spill samples. At this point, the barge-based electronic remote control was very useful system operating easily on the marine fields to skim oil spill with dangerous toxic substances of crude oil and very harmful to human. Therefore, fusion technology proposed in this study combined with electronic and marine technology is the novel contributable technology for developing marine environmental conservation and environment-friendly disaster prevention, and also its management techniques.

• The Journal of Korea Robotics Society
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• v.11 no.3
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• pp.127-132
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• 2016

For a practical mobile robot team such as carrying out a search and rescue mission in a disaster area, the localization have to be guaranteed even in an environment where the network infrastructure is destroyed or a global positioning system (GPS) is unavailable. The proposed architecture supports localizing robots seamlessly by finding their relative locations while moving from a global outdoor environment to a local indoor position. The proposed schemes use a cooperative positioning system (CPS) based on the two-way ranging (TWR) technique. In the proposed TWR-based CPS, each non-localized mobile robot act as tag, and finds its position using bilateral range measurements of all localized mobile robots. The localized mobile robots act as anchors, and support the localization of mobile robots in the GPS-shadow region such as an indoor environment. As a tag localizes its position with anchors, the position error of the anchor propagates to the tag, and the position error of the tag accumulates the position errors of the anchor. To minimize the effect of error propagation, this paper suggests the new scheme of full-mesh based CPS for improving the position accuracy. The proposed schemes assuring localization were validated through experiment results.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.1
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• pp.1-11
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• 1994

This paper presents an intelligent robotic control method for chamferless parts mating by integrating fuzzy control and neural network. The successful assembly task requires an extremely high position accuracy and a good knowledge of mating parts. However, conventional assembly method alone makes it difficult to achieve satisfactory assembly performance because of the complexity and the uncertainties of the process and its environments such as not only the limitation of the devices performing the assembly but also imperfect knowledge of the parts being assembled. To cope with these problems, an intelligent robotic assembly method is proposed, which is composed of fuzzy controller and learning mechanism based upon neural net. In this method, fuzzy controller copes with the complexity and the uncertainties of the assembly process, while neural network enhances the assembly scheme so as to learn fuzzy rules from experience and adapt to changes in environment of uncertainty and imprecision. The performance of the proposed assembly scheme is evaluted through a series of experiments using SCARA robot. The results show that the proposed control method can be effectively applied to chamferless precision parts mating.

• Journal of Electrical Engineering and Technology
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• v.1 no.2
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• pp.200-210
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• 2006

This paper proposes the motion generation method in which the movement of the 3-links leg subsystem in constrained to slider-link and a singular posture can be easily avoided. This method is the realization of jumping control moving in a vertical direction, which mimics a cat's behavior. To consider the movement from the point of the constraint mechanical system, a robotics system for realizing the motion will change its configuration according to the position. The effectiveness of the proposed scheme is illustrated by simulation and experimental results.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.5
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• pp.395-401
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• 2004

We present an AILC(Adaptive Iterative Learning Control) scheme and a sufficient condition for system parameter identification for uncertain robotic systems that perform the same tasks repetitively. It is guaranteed that the joint velocity and position asymptotically converge to the reference joint velocity and position, respectively. In addition, it is proved that a sufficient condition for parameter identification is the PE(Persistent Excitation) condition on the regressor matrix evaluated at the reference trajectory during the operation period. Since the regressor matrix on the reference trajectory can be easily computed prior to the real robot operation, the proposed algorithm provides a useful method to verify whether the parameter error converges to zero or not.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2424-2426
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• 2002

This paper proposes an adaptive control method of partially known system and shows its application result to control for two-wheeled WMR. The controlled system is stable in the sense of Lyapunov stability. To design a tracking controller for welding path reference, an error configuration is defined and the controller is designed to drive the error to zero as fast as desired. Moments of inertia of system are considered to be unknown system parameters. Their values are estimated using update laws in adaptive control scheme. The effectiveness of the proposed controller is shown through simulation results.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.4
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• pp.1786-1795
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• 2011

The trajectory control for omni-directional mobile robot is not easy. Especially, the tracking control which system uncertainty problem is included is much more difficult. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy multi-layered algorithm. The fuzzy control method is able to solve the problems of classical adaptive controller and conventional fuzzy adaptive controllers. It explains the architecture of a fuzzy adaptive controller using the robust property of a fuzzy controller. The basic idea of new adaptive control scheme is that an adaptive controller can be constructed with parallel combination of robust controllers. This new adaptive controller uses a fuzzy multi-layered architecture which has several independent fuzzy controllers in parallel, each with different robust stability area. Out of several independent fuzzy controllers, the most suited one is selected by a system identifier which observes variations in the controlled system parameter. This paper proposes a design procedure which can be carried out mathematically and systematically from the model of a controlled system; related mathematical theorems and their proofs are also given. Finally, the good performance of the developed mobile robot is confirmed through live tests of path control task.