• 로봇학회논문지
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• 제2권2호
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• pp.152-160
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• 2007

In this paper, two schemes are introduced for dynamic simulation of underwater robotic systems. One is principle of dynamical balance, which is an easy and powerful tool for formulating dynamic equations of composite systems such as underwater vehicle-manipulator system. In the dynamic modeling, this principle gives us the closed-form of dynamic equations on matrix Lie group. The other is geometric integration algorithm, called 4-th order explicit Munthe-Kaas method. By this method, the derived differential equations can be integrated preserving geometric structure. Adopting these two schemes, dynamic simulation of underwater vehicle- manipulator system can be conducted more easily and more reliably.

• 한국군사과학기술학회지
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• 제25권6호
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• pp.586-595
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• 2022

In this paper, we propose a formation control algorithm for multi-USVs according to COLREGs. First, we applied the Dynamic Window Approach algorithm that can reflect the kinematic characteristics for the path movement of USVs. Then, we propose a virtual structure-based virtual leader-follower method that applies the advantages of leader-follower and virtual structure methods among conventional formation control algorithms for stability. Next, we proposed a collision avoidance algorithm according to all COLREGs when encountering an opposing ship by adding COLREGs situational conditions to the virtual leader, and finally confirmed the feasibility of the proposed method through simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.4-12
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• 1996

This keynote presentation covers the subject of intelligent systems development for monitoring and control in various NASA space applications. Similar intelligent systems technology also has applications in terrestrial commercial applications. Discussion will be given of the general approach of intelligent systems and description given of intelligent systems under prototype development for possible use in Space Shuttle Upgrade, in the Experimental Crew Return. Vehicle, and in free-flying space robotic cameras to provide autonomy to these spacecraft with flexible human intervention, if desired or needed. Development of intelligent system monitoring and control for regenerative life support subsystems such as NASA's human rated Bio-PLEX test facility is also described. A video showing two recent world's firsts in real-time vision-guided robotic arm and hand grasping of tumbling and translating complex shaped objects in micro-gravity will also be shown.

• 한국정보통신학회논문지
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• 제17권6호
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• pp.1370-1374
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• 2013

주인을 스스로 따라다니는 로봇 캐리어가 등장하여 화제가 되었다. 최근에는 사람을 따라다니는 청소기가 로봇청소기가 출시되었다. 로봇 휠체어 등 주인이나 빛을 인식하여 따라다니는 로봇들이 다양한 응용에서 사용되고 있다. 본 연구에서는 로봇이 물건을 싣고 주인을 따라다니는 로봇을 개발하는 과정에서 로봇의 귀환문제를 다루고자 한다. 이 논문에서는 영상처리기술을 이용하여 로봇의 위치를 파악할 수 있는 실내 측위 방법을 제안한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.49-54
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• 1992

A flexible robotic assembly cell is modeled using Petri net. A simulator is developed and used to predict the optimal status of the system. The assembly cell of flexible manufacturing system(FMS) pilot plant of Automation and Systems Research Institute(ASRI) in Seoul National University is modeled. The system consists of 3 robots, 4 conveyors, automatic guided vehicle(AGV) and auto-stacker. The simulator is programmed in Turbo C on IBM PC, supporting a simple graphic simulation with pull-down menu. The flexibility of the assembly cell in the FMS plant is guaranteed, since it is possible to predict the optimal status of the system using this simulator.

• 로봇학회논문지
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• 제16권2호
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• pp.155-163
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• 2021

In this paper, we propose a four 2-link robotic leg landing system that is used for leveling the bottom of the landing system, even when the quadcopter posture is changed. The case of conventional skid type landing gear has a risk when the quadcopter lands on a moving vehicle because the skid type landing gear is tilted to the landing site at this situation. To solve this problem, it is necessary to level the bottom of the landing system when the quadcopter posture is changed in the flight. Therefore, the proposed landing system used a four 2-link robotic leg with leveling method. The leveling method was derived from the method of determining a plane. The superiority of the proposed system was verified with 6-axis stewart platform and real flight experiment, and it shows feasibility of leveling method and proposed landing system.

• 제어로봇시스템학회논문지
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• 제16권6호
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• pp.592-600
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• 2010

The problem of motion control for AUV (Autonomous Underwater Vehicles) is addressed. The utilization of such robotic vehicles has gained an increasing importance in many marine activities. In this paper the objective is to describe how to design and apply FGS (Fuzzy Gain Scheduling) PD (Proportional Derivative) controller for an AUV (Autonomous Underwater Vehicle) to control the yaw and depth of the vehicle by keeping the path of the navigation to a desired point, and/or changing the path according to a set point.

• 로봇학회논문지
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• 제11권3호
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• pp.146-155
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• 2016

Localization of underwater vehicle is essential to use underwater robotic systems for various applications effectively. For this purpose, this paper presents a method of two-dimensional SLAM for underwater vehicles equipped with two hydrophones. The proposed method uses directional angles for underwater acoustic sources. A target signal transmitted from acoustic source is extracted using band-pass filters. Then, directional angles are estimated based on Bayesian process with generalized cross-correlation. The acquired angles are used as measurements for EKF-SLAM to estimate both vehicle location and locations of acoustic sources. Through these processes, the proposed method provides reliable estimation for two dimensional locations of underwater vehicles. Experimental results demonstrate the performance of the proposed method in a real sea environment.

• 한국항공우주학회지
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• 제49권3호
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• pp.185-195
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• 2021

본 연구의 날갯짓 초소형 비행체는 실제 생명체의 날개를 모방하여, 매우 유연한 재질의 캠버날개를 활용한다. 캠버 날개는 생명체와 유사하게 앞전, 시맥, 박막과 같이 특성이 서로 다른 세가지 재질로 구성되어 있고 다양한 방식으로 구속되어 있다. 날개의 유연성을 활용한 수동 회전(passive rotation) 방식은 앞전과 시맥의 재질이 날갯짓 궤적에 매우 큰 영향을 미치는 요소이기 때문에 적절한 유연성을 갖는 재질의 선정이 필수적이다. 이러한 날개의 재질들과 복잡한 형상을 사실적으로 모델링하여 정밀하게 해석할 수 있는 유체-구조 연성해석 프로그램을 개발하고, 날개의 앞전과 시맥의 탄성 계수의 변화에 따른 공력탄성학 효과를 정밀하게 분석하였다. 결과적으로 재료의 탄성 계수 변화만으로도 날개의 비틀림각 궤적을 적절히 발생시킴으로써 날갯짓 비행체의 추력 및 효율을 크게 증가시킬 수 있음을 보였다.

• 한국해양공학회지
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• 제33권6호
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• pp.620-626
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• 2019

With the development of robot technology, the expectation of autonomous mission operations has increased, and the research on robot control architectures and mission planners has continued. A scalable and robust control architecture is required for unmanned surface vehicles (USVs) to perform a variety of tasks, such as surveillance, reconnaissance, and search and rescue operations, in unstructured and time-varying maritime environments. In this paper, we propose a robot control architecture along with a new utility function that can be extended to various applications for USVs. Also, an additional structure is proposed to reflect the operator's command and improve the performance of the autonomous mission. The proposed architecture was developed using a robot operating system (ROS), and the performance and feasibility of the architecture were verified through simulations.