• International Journal of Fuzzy Logic and Intelligent Systems
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• v.6 no.3
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• pp.264-269
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• 2006

This paper presents the strategy for searching a hidden object in an unknown area for using by multiple distributed autonomous robotic systems (DARS). To search the target in Markovian space, DARS should recognize th ε ir surrounding at where they are located and generate some rules to act upon by themselves. First of all, DARS obtain 6-distances from itself to environment by infrared sensor which are hexagonally allocated around itself. Second, it calculates 6-areas with those distances then take an action, i.e., turn and move toward where the widest space will be guaranteed. After the action is taken, the value of Q will be updated by relative formula at the state. We set up an experimental environment with five small mobile robots, obstacles, and a target object, and tried to research for a target object while navigating in a un known hallway where some obstacles were placed. In the end of this paper, we present the results of three algorithms - a random search, an area-based action making process to determine the next action of the robot and hexagon-based Q-learning to enhance the area-based action making process.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.9
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• pp.797-804
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• 2013

In this paper, a study of a new hovering six dof underwater robot with redundant horizontal thrusters, titled HAUV (hovering AUV), is presented. The results of study on the structure design, deployment of thrusters, and development of the developed control system of the AUV was presented. For the HAUV structure, a structure design and an analysis of the thrusting system was performed. For navigation, a sensor fusion board which can proceed various sensor signals to identify correct positions and speeds was developed and a total control system including EKF (Extended Kalman Filter) was designed. Rolling, pitching and depth control tests of the HAUV have been performed, and relatively small angle error and depth tracking error results were shown.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.39 no.4
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• pp.6-15
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• 2002

A neural network disturbance observer for a robotic manipulator is derived in this paper. The neural network used as the disturbance observer is a feedforward MLP(multiple-layered perceptron) network. The uniform ultimate boundness(UUB) of the proposed neural disturbance observer and the control error within a sufficiently small compact set is guaranteed. This neural disturbance observer method overcomes the disadvantages of the existing adaptive control methods which require the tedious analysis of the regressor matrix of the given manipulator. The effectiveness of the proposed neural disturbance observer is demonstrated by the application to the three-link robotic manipulator.

• Proceedings of the KSME Conference
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• 2001.11a
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• pp.716-722
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• 2001

In this paper, the modeling and control of electrostrictive polymer is introduced for endoscopic microcapsule. The endoscopic microcapsule works in the body, so the material of robot must be no harmful to the body. The electrostrictive polymer satisfies this condition. The modeling and control of endoscope microcapsule must be processed. So the modeling and control of electrostrictive was processed preferentially. The electrostrictive polymer is so flexible that we considered the electrostrictive polymer as flexible membrane. The dynamic equation of flexible membrane is time variant in electrostrictive polymer. It is the reason that the elastic modulus of electrostrictive polymer is very small and changes as deformation of electrostrictive polymer. The control algorithm must overcome these characteristics. So the algorithm of adaptive fuzzy control was used to control. In this paper, we introduced the dynamic modeling and control of electrostrictive polymer. And its deformation is introduced.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2003.05a
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• pp.98-104
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• 2003

While the impact or internet on our everyday life keeps increasing, the internet users are turning toward the value added information only that suits their purpose instead of just wandering over a sea (pool) or information. Although it is easy to locate the information using various search engines. we still finds it time and cost consuming to update the existing information or to add similar Information. There are several portal sites managed by each industrial types or associations/organizations for the purpose or strengthening the competitiveness or small and medium-sized enterprises And currently, tremendous manpower and expenses are put into the selection and quality improvement or information to satisfy the needs toward the high qualify information by the specialized users in their fields collection and updating or the information is partially available manually during He period or budget allocation by the government it becomes problematic, however, to continue this service when the project expires. This report presents the system for the information collection, analysis and classification of portal sites operated for the special purposes and automatic upload to the proper sites. In addition. expression or web robots and application of robots and several information types are suggested which will eventually accomplish currency or information and automatic updates and addition or documents with the least expenses or maintenance.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.10
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• pp.46-53
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• 2007

This paper describes the development of a high-precision measuring device with DSP (digital signal processor) for the accurate measurement of the 6-axis force/moment sensor mounted to a humanoid robot's ankle. In order to walk on uneven terrain safely, the foot should perceive the applied forces Fx, Fy, and Fz and moments Mx, My, and Mz to itself, and control the foot using the measured them. The applied forces and moments should be measured from two 6-axis force/moment sensors mounted to the feet, and the sensor is composed of Fx sensor, Fy sensor, Fz sensor, Mx sensor, My sensor and Mz sensor in a body (single block). In order to acquire output values from twelve sensors (two 6-axis force/moment sensor) accurately, the measuring device should get the function of high speed, and should be small in size. The commercialized measuring devices have the function of high speed, unfortunately, they are large in size and heavy in weight. In this paper, the high-precision measuring device for acquiring the output values from two 6-axis force/moment sensors was developed. It is composed of a DSP (150 MHz), a RAM (random access memory), amplifiers, capacities, resisters and so on. And the characteristic test was carried out.

• Journal of the Korea Furniture Society
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• v.26 no.4
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• pp.383-391
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• 2015

In recent years the industry has utilized some of the 3D printers in the manufacturing process a trend which spread also a personal desktop 3D printer priced. The 3D printer can create the 3D object by using an ink or a laser instead of the powders, and various liquid plastic material. Properties of 3D printers are liquid, solid, powder and raw materials are also classified as varied. New ideas and processes in the form of designer furniture, becoming increasingly evolved through the development of materials and technologies. Science, art and technology combine to create a new aesthetic for the complex and free binding structure is a combination of design and materials are available in craft and the structure appears not showing. 3D scanning was not simply continue to develop as the production process by a variety of tools and content transformation. Create new mathematical tables and chairs designed by the theory fit the digital age shows a coupling structure with decoration into small pieces. It has created a new craft technique in the digital age.

• The Journal of Korea Robotics Society
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• v.8 no.2
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• pp.129-135
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• 2013

In this paper, a high precision outdoor positioning system is newly proposed using multiple GPS receivers based on the Extended Kalman Filter (EKF). Typically, the GPS signal has the instantaneous errors that degrade the positioning seriously. Using the multiple GPS receivers instead of an expensive DGPS receiver, the positioning reliability and accuracy are improved in this research as a low cost solution. To incorporate the small displacement, an INS data have been tightly coupled to the GPS data, which has the inherit disadvantage of the cumulative error occurring over time. To achieve a stabilized and accurate positioning system, the multiple GPS receiver data are fused with the INS data through the EKF process. Through real navigation experiments of an outdoor mobile robot, the performance of the proposed system has been verified to be accurate comparable to DGPS system with a lower cost.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.11
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• pp.2902-2912
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• 1994

The ultrasonic array sensor system, consisting of one transmitter and fourreceivers instead of the traditional combination of a transmitter and a receiver is proposed in order to identify the location of objects. From the theoretical analysis and the experimental results, it is found that this new array sensor system could derive the information on the position of objects accurately, while the traditional sensor system could provide only the informatioin on the distance to objects. This sensor system is used to develop a sonar-based local mapping algorithm. The local map is used to find the existence of possible gates, through which the mobile robots can pass, and to select the suitable one in order for the robots to reach the goal safely in the presence of obstacles. The performance of the proposed local map algorithm is demonstrated experimentally in a small working area with several obstacles. It is found that the quality of the resulting local map is sufficient for the avoidance of collisions between the robots and obstacles and for the selection of the suitable gate leading to the goal. It is also shown that the global map of the working area could be obtained by integrating several local maps constructed from different locations and that it matches the actual layout of the working area well.

• Advances in robotics research
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• v.2 no.1
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• pp.59-68
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• 2018

Autonomous mobile service medical robots (AMSMRs) are one of the promising developments in contemporary medical robotics. In this study, we consider the essential technical and intellectual abilities needed by AMSMRs. Based on expert analysis of the behavior exhibited by AMSMRs in clinics under basic scenarios, these robots can be classified as intellectual dynamic systems acting according to a situation in a multi-object and multi-agent environment. An AMSMR should identify different objects that define the presented territory (rooms and paths), different objects between and inside rooms (doors, tables, and beds, among others), and other robots. They should also identify the means for interacting with these objects, people and their speech, different information for communication, and small objects for transportation. These are included in the minimum set required to form the internal world model in an AMSMR. Recognizing door handles and opening doors are some of the most difficult problems for contemporary AMSMRs. The ability to recognize the meaning of human speech and actions and to assist them effectively are other problems that need solutions. These unresolved issues indicate that AMSMRs will need to pass through some learning and training programs before starting real work in hospitals.