• 제어로봇시스템학회논문지
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• 제12권10호
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• pp.968-974
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• 2006

We are moving into the era of ubiquitous computing. Ubiquitous Sensor Network (USN) is a base of such computing paradigm, where recognizing the identification and the position of objects is important. For the object identification, RFID tags are commonly used. For the object positioning, use of sensors such as laser and ultrasonic scanners is popular. Recently, there have been a few attempts to apply RFID technology in robot localization by replacing the sensors with RFID readers to achieve simpler and unified USN settings. However, RFID does not provide enough sensing accuracy for some USN applications such as robot navigation, mainly because of its inaccuracy in distance measurements. In this paper, we describe our approach on achieving accurate navigation using RFID. We solely rely on RFID mechanism for the localization by providing coordinate information through RFID tag installed floors. With the accurate positional information stored in the RFID tag, we complement coordinate errors accumulated during the wheel based robot navigation. We especially focus on how to distribute RFID tags (tag pattern) and how many to place (tag granularity) on the RFID tag-floor. To determine efficient tag granularities and tag patterns, we developed a simulation program. We define the error in navigation and use it to compare the effectiveness of the navigation. We analyze the simulation results to determine the efficient granularities and tag arrangement patterns that can improve the effectiveness of RFID navigation in general.

• 한국해양공학회지
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• 제33권2호
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• pp.178-188
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• 2019

When burying underwater cables using robots, heading control is one of the key functions for the robots to improve task efficiency. This paper addresses the heading control issue for URI-T, an ROV for underwater construction tasks, including the burial and maintenance of cables or small diameter pipelines. Through modeling and identifying the heading motion of URI-T, the dynamic characteristics and input limitation are analyzed. Based on the identification results, a PD type controller with appropriate input treatment is designed for the heading control of URI-T. The performance of the heading controller was verified in water tank experiments. The field applicability of the proposed controller was also evaluated through the sea trial of URI-T at the East Sea, with a water depth of 500 m.

• International Journal of Internet, Broadcasting and Communication
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• 제14권4호
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• pp.132-139
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• 2022

The development of the fourth industrial revolution and logistics 4.0 related technology, the growth of the e-commerce market, and the transition to a non-face to face society due to the pandemic are accelerating the growth of the logistics industry. Due to the growth of the logistics industry, various services are emerging to meet the requirements of the market, and research and technology development related to the parcel storage, which is an important element of the last mile service, is also underway. In the past, if it was difficult to deliver the goods directly to the recipient, the parcel storage installed near the delivery location was used, but the usability was not good and the storage of the goods was limited. In addition, the existing parcel storage has a lot of functional limitations compared to the advanced logistics technology, so it is necessary to develop a device that improves it. Therefore, this study conducted to secure safety for unmanned parcel storage devices with robot technology to improve usability and functionality in line with the advanced logistics industry. Based on ISO 10218, an industrial robot related standard, risk identification studies were conducted to derive results that contribute to the development of devices under development.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.473-478
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• 1992

This paper aims to investigate the navigation control of a mobile robot in a confined environment. Steering angle becomes control variable which is computed from the fuzzy control rules. The identification method proposed in this paper presents the fuzzy control rules obtained through modelling of. the driving actions of human operator. The feasibility of the proposed method is evaluated through the application of the identified fuzzy controls rules to the navigation control of a mobile robot which follows the center of a corridor.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.258-262
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• 1990

Several optimum control algorithms have been proposed to minimize the robot cycle time by velocity scheduling. Most of these algorithms assume that the dynamic and kinematic characteristics of a manipulator are fixed. This paper presents the study of a minimum-time optimum control for robotic manipulators considering parameter changes. A complete set of solutions for parameter identification of the robot dynamics has been developed. The minimum-time control algorithm has been revised to be updated using estimated parameters from measurements.

• 로봇학회논문지
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• 제6권3호
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• pp.284-291
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• 2011

This paper presents the estimation of the frictional coefficient of the wheel-legged robot with hip joint actuation producing maximum tractive force. Slip behavior for wheel-legged robot is analytically explored and physically understood by identification of the non-slip condition and derivation of the torque limits satisfying it. Utilizing results of the analysis of slip behavior, the frictional coefficients of the wheel-legged robot during stance phase are numerically estimated and finally this paper suggests the pseudo-algorithm which can not only estimate the frictional coefficients of the wheel-legged robot, but also produce the candidate of the touch down angle for the next stance.

• Advances in robotics research
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• 제2권1호
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• pp.99-112
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• 2018

The main contribution of this work is the design of a field programmable gate array (FPGA) based ARX-Laguerre proportional-integral observation (PIO) system for fault detection and identification (FDI) in a multi-input, multi-output (MIMO) nonlinear uncertain dynamical robot manipulators. An ARX-Laguerre method was used in this study to dynamic modeling the robot manipulator in the presence of uncertainty and disturbance. To address the challenges of robustness, fault detection, isolation, and estimation the proposed FPGA-based PI observer was applied to the ARX-Laguerre robot model. The effectiveness and accuracy of FPGA based ARX-Laguerre PIO was tested by first three degrees of the freedom PUMA robot manipulator, yielding 6.3%, 10.73%, and 4.23%, average performance improvement for three types of faults (e.g., actuator fault, sensor faults, and composite fault), respectively.

• 전기학회논문지
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• 제63권3호
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• pp.376-382
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• 2014

E-Actuator is an essential part of an eVGT, it receives the command from the main ECU and controls the vane. An e-Actuator failure can cause an abrupt change in engine output and it may induce an accident. Therefore, it is required to detect anomalies in the e-Actuator in real time to prevent accidents. In this paper, an e-Actuator fault detection method using on-line parameter identification is proposed. To implement on-line fault detection algorithm, many constraints are considered. The test input and sampling rate are selected considering the constraints. And new recursive system identification algorithm is proposed which reduces the memory and MCU power dramatically. The relationship between the identified parameters and real elements such as gears, spring and motor are derived. The fault detection method using the relationship is proposed. The experiments with the real broken gears show the effectiveness of the proposed algorithm. It is expected that the real time fault detection is possible and it can improve the safety of eVGT system.

• 소음진동
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• 제5권3호
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• pp.385-394
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• 1995

Recently, since robot manipulator becomes faster and lighter, its link is no longer regarded as rigid body, and robot controller which only controls robot position cannot reduce vibration of the flexible link. Therefore vibration control is needed in robot manipulator control in addition to position control. In the case that tip mass changes when robot manipulator in working, it is clear that the efficiency of the vibration/position controller designed for the fixed system goes down. In this paper, the system with time varying parameters, adaptive control theory is adopted which estimates parameters changed by the variation of the tip mass and re-calculates the gain of the controller. Validify of the proposed adaptive controller and capability of the estimator are evaluated by computer simulations and experiments. Comparison results of the optimal controller for the fixed system and proposed adaptive controller and carried out.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1996년도 추계학술대회 논문
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• pp.150-155
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• 1996

This paper presents a new approach to the design of self-tuning adaptive control system that is robust to the changing dynamic configuration as well as to the load variation factors using digital signal processors for robot manipulators. TMS3200C50 is used in implementing real-time adaptive control algorithms provide advanced performance for robot manipulator. In this paper an adaptive control scheme is proposed in order to design the pole-placement self-tuning controller which can reject the offset due to any load disturbance without a detailed description of robot dynamics. parameters of discrete-time difference model are estimated by the recursive least-square identification algorithm and controller parameters are detemined by the pole-placement method. Performance of self-tuning adaptive controller is illusrated by the simulation and experiment for a SCARA robot.