• Proceedings of the IEEK Conference
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• 2009.05a
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• pp.264-266
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• 2009

A skill is defined as the special ability to do something well, especially as acquired by learning and practice. To learn a skill, a Bayesian network model for representing the skill is first learned. We will regard the Bayesian network for a skill as an affordance. We propose a soft Behavior Motivation(BM) switch as a method for ordering affordances to accomplish a task. Then, a skill is constructed as a combination of an affordance and a soft BM switch. To demonstrate the validity of our proposed method, some experiments were performed with GENIBO(Pet robot) performing a task using skills of Search-a-target-object, Approach-a-target-object, Push-up-in front of -a-target-object.

• International Journal of Control, Automation, and Systems
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• v.1 no.2
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• pp.229-235
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• 2003

We designed a family of completely autonomous mobile robots with local intelligence. Each robot has a number of on-board sensors, including vision, and does not rely on global positioning systems The on-board embedded controller is sufficient to analyze several low-resolution color images per second. This enables our robots to perform several complex tasks such as navigation, map generation, or providing intelligent group behavior. Not being limited to playing the game of soccer and being completely autonomous, we are also looking at a number of other interesting scenarios. The robots can communicate with each other, e.g. for exchanging positions, information about objects or just the local states they are currently in (e.g. sharing their current objectives with other robots in the group). We are particularly interested in the differences between a behavior-based approach versus a traditional control algorithm at this still very low level of action.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.3
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• pp.173-180
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• 2015

In this paper, we propose a new precise control technology of robotic gripper for assembling and handling of part. When a robot manipulator interacts mechanically with its environment to perform tasks such as assembly or edge-finishing, the end-effector is thereby constrained by the environment. Therefore grasping force control is very important, since it increases safety due to monitoring of contact force. A comparison of various force control architecture is reported. Different force control methods can often be configured to achieve similar results for a given task, and the choice of control algorithm depends strongly on the application or on the characteristics of a particular robot. In the research, the adjustable gripping force can be controlled and improved the accuracy using the artificial intelligence techniques.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.417-422
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• 1990

For the robot manipulator in performing precision task, it is indispensable that the robot utilize the various sensors for intelligence. This paper presents the development and implementation of an integrated control system for the control of robotic manipulator, a feeder, a conveyor belt system, force/torque sensor system, and a photo sensor system. Micro controller board was constructed for hierarchical control of the system. To set up the program interactively, a user can make use of the software which includes the full-down menu and a dialog box. The user can make progress the program quickly and easily by a mouse. The related software was written in C and assembly languages.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.1-6
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• 1990

Neural network is a computational model of ft biological nervous system developed ID exploit its intelligence and parallelism. Applying neural networks so robots creates many advantages over conventional control methods such as learning, real-time control, and continuous performance improvement through training and adaptation. In this paper, dynamic control of a six-link robot will be presented using neural networks. The neural network model used in this paper is the backpropagation network. Simulated control of the PUMA 560 am shows that it can move a high speed as well as adapt to unforseen load changes and sensor noise. The results are compared with the conventional PD control scheme.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.1
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• pp.21-27
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• 2012

We can efficiently collect crops or minerals by operating multi-robot foraging. As foraging spaces become wider, control algorithms demand scalability and reliability. Swarm robotics is a state-of-the-art algorithm on wide foraging spaces due to its advantages, such as self-organization, robustness, and flexibility. However, high initial and operating costs are main barriers in performing multi-robot foraging system. In this paper, we propose a novel method to improve the energy efficiency of the system to reduce operating costs. The idea is to employ a new behavior model regarding role division in concert with the search space division.

• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.343-345
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• 2007

This paper proposes an inertial navigation system(INS) with which a biped robot can determine his position, velocity, posture, etc. The proposed system provides the information of robots independently without using any outer signals. The defect of the algorithm is the en'or accumulation as the robot increases the mobile range. However, in this application the problem is not so critical because the working space is small and operation period of the robots is relatively short. With the proposed INS system biped robots obtain enhanced intelligence to execute their tasks. The structure and theoretical backgrounds are utilized to design the INS system. The method for application of INS system to biped robots has been illustrated.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.15 no.2
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• pp.87-92
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• 2006

This paper supplements shortcoming of radioactivity check by detecting defect of SWP weld zone using ultrasonic wave. Manufacture 2 stage robot detection systems that can follow weld bead of SWP by method to detect weld defects of SWP that shape of weld bead is complex for this as quantitative. Also, through signal processing ultrasonic wave defect signal system of GUI environment that can grasp easily existence availability of defect because do videotex compose. Ultrasonic wave signal of weld defects develops artificial intelligence style sightseeing system to enhance pattern recognition of weld defects and the classification rate using neural net. Classification of weld defects that do fan Planar defect and that do volume defect of by classify.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.7 no.1
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• pp.41-48
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• 2007

Latest advances in network sensor technology and state of the art of mobile robot, and artificial intelligence research can be employed to develop autonomous and distributed monitoring systems. In this study, as the preliminary step for developing a multi-purpose "Intelligent Space" platform to implement advanced technologies easily to realize smart services to human. We will give an explanation for the ISpace system architecture designed and implemented in this study and a short review of existing techniques, since there exist several recent thorough books and review paper on this paper. Instead we will focus on the main results with relevance to the DIND data fusion with CI of Intelligent Space. We will conclude by discussing some possible future extensions of ISpace. It is first dealt with the general principle of the navigation and guidance architecture, then the detailed functions tracking multiple objects, human detection and motion assessment, with the results from the simulations run.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.1
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• pp.345-359
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• 2017

Optical Character Recognition (OCR) that has been a main research topic of computer vision and artificial intelligence now extend its applications to detection of text area from video or image contents taken by camera devices and retrieval of text information from the area. This paper aims to implement a binarization algorithm that removes user intervention and provides robust performance to outdoor lights by using TopHat algorithm and channel transformation technique. In this study, we particularly concentrate on text information of outdoor signboards and validate our proposed technique using those data.