• Journal of Institute of Control, Robotics and Systems
• /
• v.16 no.9
• /
• pp.891-897
• /
• 2010

This paper proposes a cooperative control algorithm for a dual-arms robot which is carrying an object to the desired location. When the dual-arms robot is carrying an object from the start to the goal point, the optimal path in terms of safety, energy, and time needs to be selected among the numerous possible paths. In order to quantify the carrying efficiency of dual-arms, DAMM (Dual Arm Manipulability Measure) has been defined and applied for the decision of the optimal path. The DAMM is defined as the intersection of the manipulability ellipsoids of the dual-arms, while the manipulability measure indicates a relationship between the joint velocity and the Cartesian velocity for each arm. The cost function for achieving the optimal path is defined as the summation of the distance to the goal and inverse of this DAMM, which aims to generate the efficient motion to the goal. It is confirmed that the optimal path planning keeps higher manipulability through the short distance path by using computer simulation. To show the effectiveness of this cooperative control algorithm experimentally, a 5-DOF dual-arm robot with distributed controllers for synchronization control has been developed and used for the experiments.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2018.10a
• /
• pp.62-65
• /
• 2018

This paper comes out with the study on sensing data collection strategy in a Software-Defined Mobile Edge vehicular networking. The two cooperative data dissemination are Direct Vehicular cloud mode and edge cell trajectory prediction decision mode. In direct vehicular cloud, the vehicle observe its neighboring vehicles and sets up vehicular cloud for cooperative sensing data collection, the data collection output can be transmitted from vehicles participating in the cooperative sensing data collection computation to the vehicle on which the sensing data collection request originate through V2V communication. The vehicle on which computation originate will reassemble the computation out-put and send to the closest RSU. The SDMEVN (Software Defined Mobile Edge Vehicular Network) Controller determines how much effort the sensing data collection request requires and calculates the number of RSUs required to support coverage of one RSU to the other. We set up a simulation scenario based on realistic traffic and communication features and demonstrate the scalability of the proposed solution.

• Asia-pacific Journal of Multimedia Services Convergent with Art, Humanities, and Sociology
• /
• v.8 no.2
• /
• pp.33-40
• /
• 2018

There are lots of literature about connected car system from industry and academia. The connected car is a smart car integrated with IT technology that is connected to people, vehicles and traffic management systems. It is important to V2I (vehicle to infrastructure) communication which is the connection between the vehicle and the infrastructure. CIM (cooperative intersection management) is a device to manage the communication between vehicle and infrastructure. In this paper, we analyze two intelligent vehicle control methods using CIM at non-signalized intersections. In the first method, a vehicle to pass through intersection needs to reserve a resource of intersection. In the second method, trajectory patterns on pre-planned vehicles are classified to pass through intersection. We analyze case studies of two methods to be implemented by DP(dynamic programming) and ACO(ant colony optimization) algorithms. The methods can be reasonably improved by placing importance on vehicles or controlling speeds of vehicles.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.17 no.4
• /
• pp.86-92
• /
• 2009

A driver-vehicle model means the integrated dynamic model that is able to estimate the steering wheel angle from the driver's desired path based on the dynamic characteristics of the driver and vehicle. Autonomous driving robot for factory automation has individual four-wheels which are driven by electronic motors. In this paper, the dynamic characteristics of several four-wheel steering systems with the simultaneously steerable front and rear wheels are investigated and compared by means of the driver-vehicle model. A diver-vehicle model is proposed by using the PID control to velocity and trajectory of control autonomous driving robot. To determine the optimum speed of a autonomous driving robot, steady-state circle simulation is carried out with the ADAMS program and MATLAB control model.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.24 no.3
• /
• pp.225-232
• /
• 2014

In this study, a cooperative UAV and UGV platform is proposed to obtain a wide range of visual information. The UAV recognizes a pattern marker on UGV and tracks the UGV without user control. It can provide wide range of visual information for a user in the UGV. The UGV by a user is controled equipped with an aluminum board. And the UAV can take off and land on the UGV. The UAV uses two cameras; one camera is used to recognize a pattern marker and another is used to provide a wide range of visual information to the UGV's user. It is guaranteed that the proposed visual-based approach detects and tracks the target marker on the UGV, and then lands well. The experimental results show that the proposed approach can effectively construct a cooperative UAV/UGV platform for obtaining a wide range of vision information.

• 제어로봇시스템학회:학술대회논문집
• /
• 1987.10a
• /
• pp.915-920
• /
• 1987

When a task requires two robot arms to move in a cooperative manner sharing a common workspace, potential collision exists between the two robot arm . In this paper, a novel approach for collision-free trajectory planning along paths of two SCARA-type robot arms is presented. Specifically, in order to describe potential collision between the links of two moving robot arms along the designated paths, an explicit form of "Virtual Obstacle" is adopted, according to which links of one robot arm are made to grow while the other robot arm is forced to shrink as a point on the path. Then, a notion of "Coordination Chart" is introduced to visualize the collision-free relationship of two trajectories.of two trajectories.

• Journal of Institute of Control, Robotics and Systems
• /
• v.6 no.9
• /
• pp.803-812
• /
• 2000

In this paper we introduce a model based centralized hierarchical controller for cooperative team of soccerplaying multiple mobile robots. The hierarchical controller is composed of high-level and low-level controllers. Using the coordinates information of objects from the vision are simple models of multiple mobile tobots on the playground. Subsequently, the high level controller selects and action model corresponding to the perceived state transition model and generates subgoal and goal-velocity, from which the low level controller generates trajectory of each wheel velocity of the robot. This two layered simplicity. The feasubility of the control strategy has been demonstrated in an implementation for real soccer games at a MiroSot league.

• Journal of Korea Technology Innovation Society
• /
• v.18 no.1
• /
• pp.49-72
• /
• 2015

The patent war between Apple and Samsung which started in the year of 2011 presents us a good example of a multifaceted technological strategies, frequently found in high-tech industries. The patent litigation represents a competitive structure, while the patent citation of counterpart's technology demonstrates the underlying cooperative relationship between two leading firms in smart-phone industry. However, the previous studies have mostly concentrated on one aspect in inter-firm relationship, providing only a partial aspect of technological management issues often faced by high-tech companies today. We also have a limited understanding on the technological trajectory or how the core technology evolve over time in high-tech industry where technological knowledge is the main source of competitive advantage. To overcome the drawbacks in the previous studies, we examine the coopetitive nature of inter-organizational relationship with simultaneous perspectives of competition and cooperation in smart-phone industry. To this end, this study analyzes patent-litigation for revealing the competitive nature and patent-citation network for the cooperative nature by utilizing patent citation data. By doing so, we identify the specific patterns of technological knowledge flows and the direction of technological strategy and the relevant policy under the circumstance of coopetition ecosystem.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.17 no.1
• /
• pp.50-57
• /
• 2009

Lane Keeping Assistant Systems (LKAS) require the cooperative operation between drivers and active steering angle/torque controllers. An LKAS is proposed in this study such that the desired reference path generation (DRPG) system generates the desired path to minimize the trajectory overshoot. Based on the reference path from the DRPG system, an optimal controller is designed to minimize the cost function. A HIL (Hardware In the Loop) simulator is constructed to evaluate the proposed LKAS system. The single camera is mounted on the simulator and acquires the monitor images to detect lane markers. The performance of the proposed system is evaluated by HIL system using the Carsim and the Matlab Simulink.

• Korean Journal of Applied Biomechanics
• /
• v.29 no.2
• /
• pp.97-104
• /
• 2019

Objective: The aim of this study was to investigate the strategies for avoiding moving and stationary walker using body segments during walking. Method: Ten healthy young adults (10 males, age: $24.40{\pm}0.49yrs$, height: $175.80{\pm}5.22cm$, body mass: $70.30{\pm}5.22kg$) participated in this study. Each participant was asked to perform a task to avoid collisions with another walker who was moving or stationary during walking on the 10 m walkway. Both walkers were performed at natural self-selected walking speed. Results: Medio-lateral avoidance displacement of the trunk and the pelvis were significantly increased when avoiding a stationary walker (p<.05). There were no significant differences in medio-lateral center of mass trajectory. Rotation angle of trunk, pelvis and foot on the vertical axis were significantly increased when avoiding a stationary walker (p<.05). Conclusion: Based on our results, when another walker moves continuously, the walker recognizes another walker as the object of social interaction and performs the avoidance strategies while expecting the cooperative distance. On the other hand, when another walker is stopped, it is determined that the walker has an obligation to avoid, and the walker performs a relatively safer avoidance strategy.