• 한국산업융합학회 논문집
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• 제22권3호
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• pp.281-292
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• 2019

This paper proposed a new technology to control a path forging parts in limited narrow space of manufacturing process automation for smart factory. In the motion control, we adapted the obstacle avoidance technology based on ultrasonic sensors. The new motion control performance test for a mobile robot is experimented in narrow space environments. The travelling path control is performed by a fuzzy control logic. which plays a role for selecting an appropriate behavior in accordance with the situation in the vicinity of the mobile robot. Ultrasonic sensors installed at the front face of the mobile robot are used. In order to update the current position and heading angle of the mobile robot, a new approch is adapted. The reliability is illustrated by simulation and experiments.

• 한국산업융합학회 논문집
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• 제25권4_1호
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• pp.521-531
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• 2022

This study proposed a new approach to intelligent control of a mobile robot system by back properpagation based on multi-layer neural network. A experiment result is given in which some artificial assumptions about the linear and the angluar velocities of mobile robots from recent literature are dropped. In this study, we proposed a new thinique to impliment the real time conrol of he position and velocity of mobile robots. With the proposed control techinique, mobile robots can now globally follow any path such as a straight line, a circle and the path approaching th toe origin using proposed controller. Computer simulations are presented, which confirm the effectiveness of the proposed control algorithm. Moreover, practical experimental results concerning the real time control are reported with several real line constraints for mobile robots with two wheel driving.

• 한국산업융합학회 논문집
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• 제22권4호
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• pp.415-425
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• 2019

This study proposes a new approach to control Moving Stuff Action Through Iterative Learning robot with dual arm for smart factory. When robot moves object with dual arm, not only position of each hand but also contact force at surface of an object should be considered. However, it is not easy to determine every parameters for planning trajectory of the an object and grasping object concerning about variety compliant environment. On the other hand, human knows how to move an object gracefully by using eyes and feel of hands which means that robot could learn position and force from human demonstration so that robot can use learned task at variety case. This paper suggest a way how to learn dynamic equation which concern about both of position and path.

• 한국정보통신학회논문지
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• 제26권4호
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• pp.556-561
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• 2022

본 논문에서는 선박 용접공정에 사용되는 장비에 전력선통신 기술을 접목하고 금속블록을 통신매체로 사용하는 블록매체통신시스템을 제시한다. 여기서는 디지털 피더와 금속블록을 지지하는 핀지그에 유도성 커플러를 설치하고, 피더에 연결된 용접건에서 발생되는 전류에 정보신호를 더하여 금속블록에 인가함으로써 작업이 시작되면 현장에서 발생되는 정보를 상황실 서버에 실시간 전송한다. 현장시험 결과, 제시된 블록매체통신시스템의 송신부에서 전송된 데이터는 상황실 서버컴퓨터에 정확하게 수신되는 것을 확인하였다. 따라서 제시된 시스템은 기존 용접공정에 대한 변경 없이 구축이 가능하므로 향후 조선소 스마트 팩토리화를 통한 조선산업의 경쟁력 강화에 도움이 될 것으로 기대된다. 또한 전자파 차폐 환경이나 밀폐된 공간에서 작업자에게 발생할 수 있는 응급상황에 신속한 대처가 가능하므로 산업재해 예방효과도 클 것으로 사료된다.

• 한국산업융합학회 논문집
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• 제22권2호
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• pp.137-146
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• 2019

This study proposed a new technique to control of mobile robot based on voice command for (Human-Robot Cooperative operation in manufacturing precess). High performance voice recognition and control system was designed In this paper for smart factory. robust voice recognition is essential for a robot to communicate with people. One of the main problems with voice recognition robots is that robots inevitably effects real environment including with noises. The noise is captured with strong power by the microphones, because the noise sources are closed to the microphones. The signal-to-noise ratio of input voice becomes quite low. However, it is possible to estimate the noise by using information on the robot's own motions and postures, because a type of motion/gesture produces almost the same pattern of noise every time it is performed. In this paper, we describe an robust voice recognition system which can robustly recognize voice by adults and students in noisy environments. It is illustrated by experiments the voice recognition performance of mobile robot placed in a real noisy environment.