• International Journal of Control, Automation, and Systems
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• v.4 no.1
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• pp.42-52
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• 2006

In order to utilize hydrodynamic drag force on articulated robots moving in an underwater environment, an optimum motion planning procedure is proposed. The drag force acting on cylindrical underwater arms is modeled and a directional drag measure is defined as a quantitative measure of reaction force in a specific direction in a workspace. A repetitive trajectory planning method is formulated from the general point-to-point trajectory planning method. In order to globally optimize the parameters of repetitive trajectories under inequality constraints, a 2-level optimization scheme is proposed, which adopts the genetic algorithm (GA) as the 1st level optimization and sequential quadratic programming (SQP) as the 2nd level optimization. To verify the validity of the proposed method, optimization examples of periodic motion planning with the simple two-link planner robot are also presented in this paper.

• Transactions on Control, Automation and Systems Engineering
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• v.2 no.3
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• pp.207-213
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• 2000

This paper introduces a high-performance speed control system based on artificial neural networks(ANN) to estimate unknown parameters of a DC servo motor. The goal of this research is to keep the rotor speed of the DC servo motor to follow an arbitrary selected trajectory. In detail, the aim is to obtain accurate trajectory control of the speed, specially when the motor and load parameters are unknown. By using an artificial neural network, we can acquire unknown nonlinear dynamics of the motor and the load. A trained neural network identifier combined with a reference model can be used to achieve the trajectory control. The performance of the identification and the control algorithm are evaluated through the simulation and experiment of nonlinear dynamics of the motor and the load using a typical DC servo motor model.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.393-396
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• 2005

Due to the fast growing rate of the global container trade, every major port is under the pressure of meeting the projected capacity demand. As a result, alternative solutions have been sought for improving capacity and meeting the growing demand for container storage area and terminal capacity. Moreover, material handling process re-engineering is now a critical issue for logistics and supply chain managers of airline, shipping lines, terminal and warehousing enterprises around the world. Therefore, the purpose of this paper is to develop the 3D simulator for executing performance valuation of port transportation systems. The developed 3D simulator system is to measure the effectiveness of the proposed total system and compare it with existing practices. The performance analysis variables are also defined for these comparisons

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.653-657
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• 2005

AGV is very useful equipment to transfer containers in automated container terminal. AGV must have Obstacle Detection System (ODS) for port automation. ODS needs the function to classify some specified object from background in acquired data. And it must be able to track classified moving objects. Finally, ODS could determine its next action for safe driving whether it should do emergency stop or speed down, or it should change its deriving lane. For these functions, ODS can have many different kinds of algorithm. In this paper, we present one of AGV to be used in automated container terminal.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2019-2023
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• 2005

In this paper, an autonomous omni directional cleaning robot which recognizes an obstacle and a battery charger is introduced. It utilizes a robot vision, ultra sonic sensors, and infrared sensors information along with appropriate algorithm. Three omni-directional wheels make the robot move any direction, enabling a faster maneuvering than a simple track typed robot. The robot system transfers command and image data through Blue-tooth wireless modules to be operated in a remote place. The robot vision associated with sensor data makes the robot proceed in an autonomous behavior. An autonomous battery charger searching is implemented by using a map-building which results in overcoming the error due to the slip on the wheels, and camera and sensor information.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1917-1921
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• 2005

The Bar code, RFID in the standard recognition method for the goods automation of tire manufacture process, sometimes problem occurs with the damage due to a high tension, high fever. So it has problem that needs many instruments to attach it. In this paper, in the letter of tire's surface the Mold ID which has a specific feature it proposed the algorithm for the location detection of acquisition and Mold ID of the image which uses 3 dimension cameras.. It described the method which recognizes the each letter of Mold ID from the location which is detected.

• International Journal of Control, Automation, and Systems
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• v.5 no.5
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• pp.501-507
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• 2007

This paper presents a new algorithm for the closed-loop $H_{\infty}$ control of a class of singularly perturbed nonlinear systems with an exogenous disturbance, using the successive Galerkin approximation (SGA). The singularly perturbed nonlinear system is decomposed into two subsystems of a slow-time scale and a fast-time scale in the spirit of the general theory of singular perturbation. Two $H_{\infty}$ control laws are obtained to each subsystem by using the SGA method. The composite control law that consists of two $H_{\infty}$ control laws of each subsystem is designed. One of the purposes of this paper is to design the closed-loop $H_{\infty}$ composite control law for the singularly perturbed nonlinear systems via the SGA method. The other is to reduce the computational complexity when the SGA method is applied to the high order systems.

• International Journal of Control, Automation, and Systems
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• v.5 no.5
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• pp.577-583
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• 2007

Simultaneous Localization and Mapping (SLAM) is the process of building a map of an unknown environment and simultaneously localizing a robot relative to this map. SLAM is very important for the indoor navigation of a mobile robot and much research has been conducted on this subject. Although feature-based SLAM using an Extended Kalman Filter (EKF) is widely used, it has shortcomings in that the computational complexity grows in proportion to the square of the number of features. This prohibits EKF-SLAM from operating in real time and makes it unfeasible in large environments where many features exist. This paper presents an algorithm which reduces the computational complexity of EKF-SLAM by using topological information (TI) extracted through a thinning process. The global map can be divided into local areas using the nodes of a thinning-based topological map. SLAM is then performed in local instead of global areas. Experimental results for various environments show that the performance and efficiency of the proposed EKF-SLAM/TI scheme are excellent.

• Journal of the Korean Institute of Telematics and Electronics C
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• v.36C no.6
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• pp.1-8
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• 1999

In circuit partitioning problem, work on vertex ordering have used to get good results for k-way partitioning. Body of work constructs a partitioning by first consturcting a vertex ordering, then splitting it. We present a re-placement algorithm for enhanced results by replacing and splitting the cllusters repeatedly. Experimental results on several circuits show that our approach achieves enhancement.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2004.04a
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• pp.149-152
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• 2004

Generally the wafer is increased by 300mm. We are desired that the wafer is prevented from pollutions of metal contaminant on surface of wafer. We have to develop new wafer cleaning process of IC Manufacturing that can reduce DI water and chemical by removal of the wafer cleaning process step. Moreover, it is difficult to control temprature and density of chemical in spite of rapidly increasing automation of system. We design smart module controller for new generation of semiconductor wet station with intelligent algorithm using data that is taken by computer simulation for optimal system.