• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.5
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• pp.595-601
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• 2011

This paper presents balancing control of inverted pendulum on the ROBOKER arm using visual information. The angle of the inverted pendulum placed on the robot arm is detected by a stereo camera and the detected angle is used as a feedback and tracking error for the controller. Thus, the overall closed loop forms a visual servoing control task. To improve control performance, neural network is introduced to compensate for uncertainties. The learning algorithm of radial basis function(RBF) network is performed by the digital signal controller which is designed to calculate floating format data and embedded on a field programmable gate array(FPGA) chip. Experimental studies are conducted to confirm the performance of the overall system implementation.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.41 no.5
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• pp.99-109
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• 2004

This paper proposes a new method for tracking image contents, which are re-distributed on the Internet using a web-robot and fingerprinting scheme. The fingerprinting is an extended technique of watermarking and embeds identity of the customer into the content as a fingerprint in a way that is very difficult to erase. The fingerprint in the content can be used widely in the field of the copyright protection technique because it identifies the content itself and includes the information about the original customer. In this paper we discuss an active image tracking system using a web-robot and fingerprinting scheme. In the proposed system the information of the original customer is embedded as a fingerprint into the image content before distribution and also stored into DB. The distributed contents are collected by the web-robot and fingerprinting information is extracted from the contents. Finally the identifying of contents is done by comparing the extracted fingerprint with the selling history of the content.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.4
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• pp.470-477
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• 2009

Modular reconfigurable robots with physical docking capability easily adapt to a new environment and many studies are necessary for the modular robots. In this paper, we propose a vision-based fuzzy autonomous docking controller for the modular docking robots. A modular docking robot platform which performs real-time image processing is designed and color-based object recognition method is implemented on the embedded system. The docking robot can navigate to a subgoal near a target robot while avoiding obstacles. Both a fuzzy obstacle avoidance controller and a fuzzy navigation controller for subgoal tracking are designed. We propose an autonomous docking controller using the fuzzy obstacle avoidance and navigation controllers, absolute distance information and direction informations of robots from PSD sensors and a compass sensor. We verify the proposed docking control method by docking experiments of the developed modular robots in the various environments with different distances and directions between robots.

• Journal of Digital Convergence
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• v.14 no.8
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• pp.223-232
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• 2016

This study focuses on the new teaching assistance robot platform and the cloud-based education service model to support the server. In the client area we would like to use the teacher assistant robot in elementary school classrooms to utilize the language education service platform. Emerging IoT technology will be adopted to provide a comfortable classroom environment and various media interfaces. Extensive precedent review and case study have been conducted to identify basic requirements of proposed service platform. Embedded system and technology for image recognition, speech recognition, autonomous movement, display, touch screen, IR sensor, GPS, and temperature-humidity sensor were extensively investigated to complete the service. Key findings of this paper are optimized service platform with cloud server system and possibilities of potential smart classroom with intelligent robot by adopting IoT and BIM technology.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.10a
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• pp.384-389
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• 2005

The objective on this project is to develop a cooperative Field Robot (FR), by using a customize Open Control Platform (OCP) as design and development process. An OCP is a CORBA-based solution for networked control system, which facilitates the transitioning of control designs to embedded targets. In order to achieve the cooperation surveillance system, two FRs are distributed by navigation messages (GPS and sensor data) using CORBA event-channel communication, while graphical information from IR night vision camera is distributed using CORBA Asynchronous Method Invocation (AMI). The QoS features of AMI in the network are to provide the additional delivery method for distributing an IR camera Images will be evaluate in this experiment. In this paper also presents an empirical performance evaluation from the variable chunk sizes were compared with the number of clients and message latency, some of the measurement data's are summarized in the following paragraph. In the AMI buffers size measurement, when the chuck sizes were change, the message latency is significantly change according to it frame size. The smaller frame size between 256 bytes to 512 bytes is more efficient fur the message size below 2Mbytes, but it average performance in the large of message size a bigger frame size is more efficient. For the several destination, the same experiment using 512 bytes to 2 Mbytes frame with 2 to 5 destinations are presented. For the message size bigger than 2Mbytes, the AMI are still able to meet requirement far more than 5 clients simultaneously.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2017.05a
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• pp.463-466
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• 2017

The purpose of this paper is to develop a module capable of all-directional driving different from conventional wheeled robots, and to solve the problems of the conventional mobile robot with side driving performance degradation, It is possible to overcome the disadvantages such as an increase in the time required for the unnecessary driving. The all - direction spherical wheel drive module for driving a ball - balancing robot is required to develop a power transfer mechanism and a driving algorithm for driving the robot in all directions using three rotor casters. 3DoF (Axis) A driver with built-in forward motion algorithm is embedded in the module and a driving motor module with 3DoF (axis) for driving direction and speed is installed. The movement mechanism depends on the sum of the rotation vectors of the respective driving wheels. It is possible to create various movement directions depending on the rotation and the vector sum of two or three drive wheels. It is possible to move in different directions according to the rotation vector field of each driving wheel. When a more innovative all-round spherical wheel drive module for forward movement is developed, it can be used in the driving part of the mobile robot to improve the performance of the robot more technically, and through the forward-direction robot platform with the drive module Conventional wheeled robots can overcome the disadvantage that the continuous straightening performance is lowered due to resistance to various environments. Therefore, it is necessary to use a full-direction driving function as well as a cleaning robot and a mobile robot applicable in the Americas and Europe It will be an essential technology for guide robots, boarding robots, mobile means, etc., and will contribute to the expansion of the intelligent service robot market and future automobile market.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2007.11a
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• pp.333-336
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• 2007

지능로봇에 관한 열기가 확산되면서 다양한 로봇이 연구, 개발되고 있다. 본 논문에서는 소리 인식, 변신 기능, 무게 중심 인식, 장애물 감지 및 4족 자율보행의 기능을 가지는 로봇의 설계 및 제작에 관하여 기술한다. 자기변신 로봇의 무게 중심이 아래로 향할 수 있도록 현재 상태를 파악한 후 중심 추를 이동시켜서 무게 중심을 변화시킨다. 이동 중 소리 인식과 장애물 인식 및 낭떠러지 인식으로 원활한 이동을 하기위해 다양한 센서들을 사용 한다. 시뮬레이션을 통해 제안한 방법의 유용성을 검증하고, 이를 실제 자기변신 로봇의 설계 및 제작에 적용하여 타당성을 입증한다.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1485-1488
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• 2003

This paper proposes a wireless EMG-based human-computer interface (HCI) for persons with disabilities. For the HCI, four interaction commands are defined by combining three elevation motions of shoulders such as left, right and both elevations. The motions are recognized by comparing EMG signals on the Levator scapulae muscles with double thresholds. A real-time EMG processing hardware is implemented for acquiring EMG signals and recognizing the motions. To achieve real-time processing, filters such as high- and low-pass filter and band-pass and -rejection filter, and a full rectifier and a mean absolute value circuit are embedded on a board with a high speed microprocessor. The recognized results are transferred to a wireless client system such as a mobile robot via a Bluetooth module. From experimental results using the implemented real-time EMG processing hardware, the proposed wireless EMG-based HCI is feasible for the disabled.

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2690-2692
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• 2005

CAN communication can minimize the interfacing lines between equipments because it is composed of only the input and output lines, also is used for automatic system including vehicle, aircraft, railway vehicles and robot because the reliability of data is high by the capability of data-related error detect and correcting function. It can also improve the low-reliable and inefficient system which is composed of the existing Wiring Harness(W/H), so in case of vehicle, it is used in place of the present ECU as the new electro-control unit. In this paper, we constructed the electro-control unit of vehicle by using CAN communication and implemented system that could monitor the condition of vehicle through the web or mobile by connecting the electro-control unit to imbedded system. Such a system is expected to be helpful to the intelligent vehicle and the adoption of ACC(Adaptive Cruise Control).

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.3072-3074
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• 2005

In this paper, web based monitoring systems are implemented for multi-axis force control systems of an intelligence robot. A web based monitoring system is implemented by porting Linux at embedded systems which include a Xscale processor. A device driver is developed to receive data from multi-axis force sensors in Linux operation systems. To control this device driver, a socket program for the Labview is also developed.