• 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.

• The Journal of Korea Robotics Society
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• v.4 no.3
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• pp.233-242
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• 2009

This paper briefly reviews the path planning methods that are applicable to the autonomous mobile robots for the military. Two distinct path search algorithms, $A^*$ and $D^*$ that are most popular and flexible in public applications, among those reviewed are coded and analyzed in terms of combat environment assessment factors called METT+TC for the area of operations. The results imply that it is important to consider the characteristics of defense acquisition process and the specific requirements of defense operation so that the successful technology development of the Robot products is directly linked to the defense procurement of Robot products.

• Proceedings of the KIEE Conference
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• 1988.07a
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• pp.273-277
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• 1988

This paper is to show design of robot manipulator which has 3-link using DC Motor and realization of control algorithm with IBM - XT Micro-computer connected. Gentral algorithm is applicated by position and pass control using point-to-point method. At first, this paper computes required angles on each joint in order to search desired position or path, and uses a voltage control with feedback from output of encoder and tachometer in real time. The application of control algorithm on position, velocity and force for each joint of manipulator by using self-tuning control is left for next study.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2729-2731
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• 2001

In this paper, we studied on the real-time environment map building for the mobile robot navigation using the stereo camera system. Distance measurement are necessary to build the environment map. We used a area-based stereo matching for the distance measurement with the stereo camera system. To reduce the computation time, we used DSP processor on the vision board, took a suitable area size for stereo matching, and used hierarchical search method. Using the fast acquired distance values, the environment map was built.

• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.1269-1271
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• 1996

This paper presents a visual servoing combined by evolutionary algorithms and neural network for a robotic manipulators to control position and orientation of the end-effector. Using the multi layer feedforward neural network that permits the connection of other layers, evolutionary programming(EP) that search the structure and weight of the neural network, and evolution strategies(ES) which training the weight of neuron, we optimized the net structure of control scheme. Using the four feature image information from CCD camera attached to end-effector of RV-M2 robot manipulator having 5 dof, we generate the control input to agree the target image, to realize the visual servoing. The validity and effectiveness of the proposed control scheme will be verified by computer simulations.

• Journal of The Korean Association of Information Education
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• v.17 no.1
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• pp.83-91
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• 2013

The Ministry of Education issues STEAM education as a part of convergence. Most important is "How to achieve goals of STEAM education". The goal of this paper searches possibilities that robot is a good tool for STEAM education. The main topic is photosynthesis unit as circumstantiation and "Deep sea exploration robot", is creative activity, in elementary science subject. Students complete 13 basic course about robot, then accomplish subject-oriented 10 robot application course about above topic. Basic course contains math and science elements that students learn in regular curriculum. Application course is organized following steps, photosynthesis with oxygen sensors, brainstorming, idea derivation, robot design, robot construction, demo and presentation and so on. These courses have elements of STEAM. Finally teacher has face-to-face meeting with parents and students. Most have positive aspects about this process in terms of creativity, study attitude, and school life. Specially low-ranking students win a prize in robot competition. So they can gain confidence and accomplishment. This paper don't show statistic chart, but we surely knew that robot education for STEAM education seriously affect creativity huminity and job search.

• The Journal of Korea Robotics Society
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• v.8 no.4
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• pp.256-265
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• 2013

A local map-based exploration algorithm for mobile robots is presented. Segmented frontiers and their relative transformations constitute a tree structure. By the proposed efficient frontier segmentation and a local map management method, a robot can reduce the unknown area and update the local grid map which is assigned to each frontier node. Although this local map-based exploration method uses only local maps and their adjacent node information, mapping completion and efficiency can be greatly improved by merging and updating the frontier nodes. Also, we suggest appropriate graph search exploration methods for corridor and hall environments. The simulation demonstrates that the entire environment can be represented by well-distributed frontier nodes.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.306-309
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• 1996

This paper presents a method of landmark recognition in indoor environments using a neural-network for an autonomous mobile robot. In order to adapt to image deformation of a landmark resulted from variations of view-points and distances, a multi-labeled template matching(MLTM) method and a dynamic area search method(DASM) are proposed. The MLTM is. used for matching an image template with deformed real images and the DASM is proposed to detect correct feature points among incorrect feature points. Finally a feed-forward neural-network using back-propagation algorithm is adopted for recognizing the landmark.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1044-1047
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• 2005

In this paper, we present the strategy of object search for distributed autonomous robotic systems (DARS). The DARS are the systems that consist of multiple autonomous robotic agents to whom required functions are distributed. For instance, the agents should recognize their surrounding at where they are located and generate some rules to act upon by themselves. In this paper, we introduce the strategy for multiple DARS robots to search a hidden object at the unknown area. First, we present an area-based action making process to determine the direction change of the robots during their maneuvers. Second, we also present Q learning adaptation to enhance the area-based action making process. Third, we introduce the coordinate system to represent a robot's current location. In the end of this paper, we show experimental results using hexagon-based Q learning to find the hidden object.

• Journal of Mechanical Science and Technology
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• v.20 no.4
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• pp.437-446
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• 2006

Laser vision inspection systems are becoming popular for automated inspection of manufactured components. The performance of such systems can be enhanced by improving accuracy of the hardware and robustness of the software used in the system. This paper presents a new approach for enhancing the capability of a laser vision system by applying hardware compensation and using efficient analysis software. A 3D geometrical model is developed to study and compensate for possible distortions in installation of gantry robot on which the vision system is mounted. Appropriate compensation is applied to the inspection data obtained from the laser vision system based on the parameters in 3D model. The present laser vision system is used for dimensional inspection of car chassis sub frame and lower arm assembly module. An algorithm based on simplex search techniques is used for analyzing the compensated inspection data. The details of 3D model, parameters used for compensation and the measurement data obtained from the system are presented in this paper. The details of search algorithm used for analyzing the measurement data and the results obtained are also presented in the paper. It is observed from the results that, by applying compensation and using appropriate algorithms for analyzing, the error in evaluation of the inspection data can be significantly minimized, thus reducing the risk of rejecting good parts.