• IEMEK Journal of Embedded Systems and Applications
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• v.3 no.3
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• pp.143-150
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• 2008

In this paper, we investigate a real-time environment recognition system based on stereo vision for moving object. This system consists of stereo matching, obstacle detection and distance estimation. In stereo matching part, depth maps can be obtained real road images captured adjustable baseline stereo vision system using belief propagation(BP) algorithm. In detection part, various obstacles are detected using only depth map in case of both v-disparity and column detection method under the real road environment. Finally in estimation part, asymmetric parabola fitting with NCC method improves estimation of obstacle detection. This stereo vision system can be applied to many applications such as unmanned vehicle and robot.

• IEMEK Journal of Embedded Systems and Applications
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• v.3 no.3
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• pp.151-157
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• 2008

In this paper, we propose a three dimensional distance measurement method for a stereo system by using web cams. Using a parallel stereo system, a robot gets two images from each webcam and equalize brightness of both images. And we suggest an image processing method such as labeling, isolating an object from background and finding center of an object. We also propose a method of calculating the focal distance by using least square algorithm based on triangulation and we can reduce calculation error by this method. From experimental results, we show that the proposed method can be effective for 3D distance measurement.

• IEMEK Journal of Embedded Systems and Applications
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• v.9 no.3
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• pp.165-171
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• 2014

In this paper, we propose the hardware and software of a test-bed of a hovering AUV (autonomous underwater vehicle). Test-bed to develop as the underwater robot for the hovering -type is planning to apply for marine resource development and exploration for deep sea. The RTU that controls a azimuth thruster and a vertical thruster of test-bed is a intergrated-type thruster. The main control unit that collects sensor's data and performs high-speed processing and controls a movement of test-bed is a underwater hybrid navigation system. Also it transfers position, posture, state information of test-bed to the host PC of user using a wireless communication. The host PC checks a test-bed in real time by using a realtime monitoring system that is implemented by LabVIEW.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1767-1768
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• 2007

This paper represents a map building system of Embedded Linux mobile robot. We propose a localization method which uses multiple sensors such as indoor GPS and encoder sensor for simultaneous map building system. In this paper we proposed a multiple sensor system for SLAM. For this, we developed a sensor based navigation algorithm and grid based map building algorithm under the Embedded Linux O.S. We proved this system's validity through field test

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.24.1-24
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• 2001

This paper present the idea that the inner loop regulator inside the servo can be enhanced its performance by replace the conventional control with a fuzzy proportional derivative control. In this paper, we replace an inner loop regulator of a Futaba servomotor with a fuzzy PD control paradigm. We then test the proposed system and compare the result with the original scheme. The fuzzy control used here is based on the supervisory scheme of the conventional PD yet embedded a fuzzy decision for the final control action. The proposed control scheme for the servomotor has shown robustness and effective performance in handle input disturbance along with its tracking ability. Moreover, when we embedded the new implemented on a real six-legged insect robot designed by the authors, we found that the control system for this application under the ...

• Annual Conference of KIPS
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• 2013.05a
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• pp.501-503
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• 2013

This project presents a concept of mobile robots using prototypes, computing proposal oriented to embedded systems implementation. We implement our system using GPS module, Ultrasonic sensor(range sensors), H-bridge dual stepper control, DTMF(Dual-tone Multi-Frequency ) and LCD module. In this paper we construct a mechanical simple mobile robot model, which can measure the distance from obstacle with the aid of sensor and should able to control the speed of motor accordingly. Modules were interfaced with FPGA(Field Programmable Gate Array) controller for hardware implementation.

• The Journal of Korea Robotics Society
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• v.18 no.1
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• pp.88-92
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• 2023

Lithium-ion batteries are actively used in various industrial sites such as field robots, drones, and electric vehicles due to their high energy efficiency, light weight, long life span, and low self-discharge rate. When using a lithium-ion battery in a field, it is important to accurately estimate the SoC (State of Charge) of batteries to prevent damage. In recent years, SoC estimation using data-based artificial neural networks has been in the spotlight, but it has been difficult to deploy in the embedded board environment at the actual site because the computation is heavy and complex. To solve this problem, neural network lightening technologies such as network pruning have recently attracted attention. When pruning a neural network, the performance varies depending on which layer and how much pruning is performed. In this paper, we introduce an optimized pruning technique by improving the existing pruning method, and perform a comparative experiment to analyze the results.

• IEMEK Journal of Embedded Systems and Applications
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• v.18 no.2
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• pp.81-87
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• 2023

With the development of BCI devices, it is now possible to use EEG control technology to move the robot's arms or legs to help with daily life. In this paper, we propose a customized vehicle control model based on BCI. This is a model that collects BCI-based driver EEG signals, determines information according to EEG signal analysis, and then controls the direction of the vehicle based on the determinated information through EEG signal analysis. In this case, in the process of analyzing noisy EEG signals, controlling direction is supplemented by using a camera-based eye tracking method to increase the accuracy of recognized direction . By synthesizing the EEG signal that recognized the direction to be controlled and the result of eye tracking, the vehicle was controlled in five directions: left turn, right turn, forward, backward, and stop. In experimental result, the accuracy of direction recognition of our proposed model is about 75% or higher.

• The Journal of Korea Robotics Society
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• v.19 no.1
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• pp.39-44
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• 2024

This study introduces a novel method for predicting the shape of soft catheter robots embedded with electromagnets. As an advancement in the realm of soft robotics, these catheter robots are crafted from flexible and pliable materials, ensuring enhanced safety and adaptability during interactions with human tissues. Given the pivotal role of catheters in minimally invasive surgeries (MIS), our design stands out by facilitating active control over the orientation and intensity of the inbuilt electromagnets. This ensures precise targeting and manipulation of the catheter segments. The research encompasses a comprehensive breakdown of the magnetic modeling, tracking algorithms, experimental layout, and analytical techniques. Both simulation and experimental results validate the efficacy of our method, underscoring its potential to augment accuracy in MIS and revolutionize healthcare-oriented soft robotics.

• International Journal of Control, Automation, and Systems
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• v.1 no.2
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• pp.229-235
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• 2003

We designed a family of completely autonomous mobile robots with local intelligence. Each robot has a number of on-board sensors, including vision, and does not rely on global positioning systems The on-board embedded controller is sufficient to analyze several low-resolution color images per second. This enables our robots to perform several complex tasks such as navigation, map generation, or providing intelligent group behavior. Not being limited to playing the game of soccer and being completely autonomous, we are also looking at a number of other interesting scenarios. The robots can communicate with each other, e.g. for exchanging positions, information about objects or just the local states they are currently in (e.g. sharing their current objectives with other robots in the group). We are particularly interested in the differences between a behavior-based approach versus a traditional control algorithm at this still very low level of action.