• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.184-193
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• 2017

This work shows how to create an algorithm and implementation for motion and image matching between a vehicle simulator and Unity 3D based virtual object. The motion information of the virtual vehicle is transmitted to the real simulator via a RS232 communication protocol, and the motion is controlled based on the inverse kinematics solution of the platform adopting rotary-type six actuators driving system. Wash-out filters to implement the effective motion of the motion platform are adopted, and thereby reduce the dizziness and increase the realistic sense of motion. Furthermore, the simulator system is successfully designed aiming to reducing size and cost with adaptation of rotary-type six actuators, real driving environment via VR (Virtual Reality), and control schemes which employ a synchronization between 6 motors and 3rd order motion profiles. By providing relatively big sense of motion particularly in impact and straight motions mainly causing simulator sickness, dizziness is remarkably reduced, thereby enhancing the sense of realistic motion.

• Proceedings of the Korea Society for Simulation Conference
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• 1997.04a
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• pp.23-28
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• 1997

We discuss development of a simulator for automated manufacturing systems (AMSs) which have sophisticated automated material handling equipments and complicated work flows. The simulator is designed to satisfy the following requirements. A user should be able to easily configure or specify an AMS through a graphical user interface (GUI) and minimal data input. The user should be able to model diverse and complied control logic for automated material handling systems like automated guided vehicle (AGV) systems, robot workcell systems and conveyor systems as well as complicated job flow program. Real time animation is desired. Finally, the simulator should be easily maintained and extended. To satisfy the requirements, we use an object-oriented paradigm for modeling, designing, and programming of the simulator. We use an object-oriented modeling framework to design the modeling elements library, and take the process interaction approach for scheduling processes and events. To model a user-defined diverse control logic, we also develop a script language and its interpreter. We explain design and implementation strategies. We implement the simulator using Visual C++ 4.2 and Open GL on Windows NT and the Windows95. Some modeling examples will be demonstrated.

• Proceedings of the KIEE Conference
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• 1993.07a
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• pp.355-358
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• 1993

This paper introduces what calibration is and how it is operated. The steps of calibration methods are discussed, which are modeling, measurement, parameter identification and compensation. Using modified D-H model, a new algorithm for parameter identification is developed. This algorithm is very simple and applicable to off-line robot simulator.

• Journal of IKEEE
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• v.25 no.2
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• pp.337-343
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• 2021

Deep reinforcement learning is an artificial intelligence algorithm that enables learners to select optimal behavior based on raw and, high-dimensional input data. A lot of research using this is being conducted to create an optimal movement path of a mobile robot in an environment in which obstacles exist. In this paper, we selected the Dueling Double DQN (D3QN) algorithm that uses the prioritized experience replay to create the moving path of mobile robot from the image of the complex surrounding environment. The virtual environment is implemented using Webots, a robot simulator, and through simulation, it is confirmed that the mobile robot grasped the position of the obstacle in real time and avoided it to reach the destination.

• Nuclear Engineering and Technology
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• v.56 no.5
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• pp.1913-1924
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• 2024

This paper presents the design and operation of an autonomous robot for pyroprocess automation, which requires unique approaches beyond those used in industrial applications to achieve the desired performance. Maintaining an extremely dry atmosphere is crucial to handle various materials, including chloride, and an autonomous system ensures this dry environment. The drying room dehumidifier was carefully selected and designed to generate dry air, and different types of dry air conditioning performance were evaluated, including assessing worker accessibility inside the mock-up to determine the system's feasibility. Containers used for process materials were modified to fit the gripper system of the gantry robot for automation. The loading and unloading of process materials in each equipment were automatically performed to connect the process equipment with the robotic system. The gantry robot primarily operated through macro motion to approach waypoints containing process materials, eliminating the need for precise approach motion. The robot's tapered jaw design allowed it to grasp the target object even with imperfect positioning. Robot motions were programmed using a robot simulator for initial positioning and motion planning, and real accuracy was tested in a mock-up facility using the OPC platform.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.3
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• pp.273-279
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• 2004

This research is concerned with the development of an Internet-based robot system, which is insensitive to the unpredictable internet time delay. For this purpose, a simple mobile robot system that moves in response to the user s direct control on the internet has been developed. The time delay in data transmission is an important problem for the construction of this kind of system. Therefore, the PPS (Position Prediction Simulator) is suggested and implemented to compensate for the time delay problem of the internet. The simulation and experimental results show that the distance error can be reduced using the developed PPS.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1993.10a
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• pp.593-597
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• 1993

This paper introduces robust trajectory planner for obstacle and singularity avoidance in a nonresonant robot manipulator. In this work, we propose new trajectory generator in cartesian space by use of Bezier function. Also, SR-inverse is used for obstacle and singularity avoidance of nonredundant robot. This result is verified with 3-D simulator which has been developed to examine the effectiveness of the suggested method.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1898-1899
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• 2011

In this paper, we propose an obstacle avoidance algorithm for a network-based autonomous mobile robot. The obstacle avoidance algorithm is based on the VFH (Vector Field Histogram) algorithm and delay-compensative methods with the VFH algorithm are proposed for the network-based robot that is a unified system composed of distributed environmental sensors, mobile actuators, and the VFH controller. Firstly, the compensated readings of the sensors are used for building the polar histogram of the VFH algorithm. Secondly, a sensory fusion using the Kalman filter is proposed for the localization of the robot to compensate both the delay of the readings of an odometry sensor and the delay of the readings of the environmental sensors. The performance enhancements of the proposed obstacle avoidance algorithm from the viewpoint of efficient path generation and accurate goal positioning are also shown in this paper through some simulation experiments by the Marilou Robotics Studio Simulator.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.4
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• pp.160-166
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• 2002

Since conventional mobile robot control with one module has limitation to solve complex problems, there have been a variety of works on combining multiple modules for solving them. Recently, many researchers attempt to develop mobile robot controllers using artificial life techniques. In this paper, we develop a mobile robot controller using cellular automata based neural networks, where complex tasks are divided to simple sub-tasks and optimal neural structure of each sub-task is explored by genetic algorithm. Neural network modules are combined dynamically using the action selection mechanism, where basic behavior modules compete each other by inhibition and cooperation. Khepera mobile robot simulator is used to verify the proposed model. Experimental results show that complex behaviors emerge from the combination of low-level behavior modules.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.810-815
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• 2003

This research is concerned with the development of an Internet-based robot system, which is insensitive to the unpredictable Internet time delay. For that purpose, a simple mobile robot system that moves in response to the user' direct control on the Internet has been built. The time delay in data transmission is a big problem for the construction of this kind of system. Therefore, the PPS (Position Prediction Simulator) is suggested and implemented to compensate for the time delay problem of the Internet. The simulation and experimental result show that the distance error can be reduced using the developed PPS.