• Journal of Institute of Control, Robotics and Systems
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• v.17 no.1
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• pp.31-37
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• 2011

Recently gantry-type robot with 3 axes rectangular coordinates have been studied in the many industrial production equipment and machinery fields. To acquire a good handling and motion performance of this robot, reducing the settling-time and securing the accurate-transfer positioning under high-speed conditions should be required. However when robot is moved in high-speed, the large inertia of robot can lead to serious vibration of robot's head. The time-delayed control characteristics of this robot can also lead to tracking error. In this research, the analysis of the effects of higher order positional-profile is carried out to assure high-speed performance and stiffness specifications. To remove the residual vibration caused by kinematic coupling effect of dual-servo gantry, we develop a dual-servo gantry of rotary type that moving frame of x-axis rotates about z-axis. In order to decrease the tracking error, the 3 type lead-filter through system identification was applied respectively. From the experimental results, it was shown that zero-order series leader-filter has the best performance about tracking error and settling time.

• Journal of the Korean Society for Precision Engineering
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• v.31 no.11
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• pp.1023-1030
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• 2014

This paper presents a new method to control swarm robots so that they can keep the formation while following a curved path. The main idea is to utilize the information on the instant center of gyration. For a given path, location of the instant center of the formation center is calculated, and individual robots follow the circular path around the calculated instant center. Performance of curvature-radius based method is compared with leader-follower referenced method via MATLAB simulation.

• Journal of the Korea Society for Simulation
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• v.19 no.3
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• pp.37-43
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• 2010

In field, one can observe without difficulties that two flocks are intersected or combined with each other. For example, a fish flock in a stream separates into two part by obstacles (e.g. stone) and rejoins behind the obstacles. The dynamics of two flocks guided by their leader were studied in the situation where the flocks cross each other with a crossing angle, ${\theta}$, between their moving directions. Each leader is unaffected by its flock members whereas each member is influenced by its leader and other members. To understand the dynamics, I investigated the order parameter, ${\phi}$, defined by the absolute value of the average unit velocity of the flocks' members. When the two flocks were encountered, the first peak in ${\phi}$ was appeared due to the breaking of the flocks' momentum balance. When the flocks began to separate, the second peak in ${\phi}$ was observed. Subsequently, erratic peaks were emerged by some individuals that were delayed to rejoin their flock. The amplitude of the two peaks, $d_1$ (first) and $d_2$ (second), were measured. Interestingly, they exhibited a synchronized behavior for different ${\theta}$. This simulation model can be a useful tool to explore animal behavior and to develop multi-agent robot systems.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.6
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• pp.547-554
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• 2013

This paper proposes a novel formation algorithm of identical robots based on object tracking method using omni-directional images obtained through fisheye lenses which are mounted on the robots. Conventional formation methods of multi-robots often use stereo vision system or vision system with reflector instead of general purpose camera which has small angle of view to enlarge view angle of camera. In addition, to make up the lack of image information on the environment, robots share the information on their positions through communication. The proposed system estimates the region of robots using SURF in fisheye images that have $360^{\circ}$ of image information without merging images. The whole system controls formation of robots based on moving directions and velocities of robots which can be obtained by applying Lucas-Kanade Optical Flow Estimation for the estimated region of robots. We confirmed the reliability of the proposed formation control strategy for multi-robots through both simulation and experiment.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.9
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• pp.547-555
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• 2005

A fault-tolerant gait of multi-legged robots with static walking is a gait which can maintain gait stability and continue its walking against an occurrence of a leg failure. This paper proposes fault-tolerant gait planning of a quadruped robot walking over a rough planar terrain. The considered fault is a locked joint failure, which prevents a joint of a leg from moving and makes it locked in a known position. In this Paper, two-phase discontinuous gaits are presented as a new fault-tolerant gait for quadruped robots suffering from a locked joint failure. By comparing with previously developed one-phase discontinuous gaits, it is shown that the proposed gait has great advantages in gait performance such as the stride length and terrain adaptability. Based on the two-phase discontinuous gait, quasi follow-the-leader(FTL) gaits are constructed which enable a quadruped robot to traverse two-dimensional rough terrain after an occurrence of a locked joint failure. During walking, two front legs undergo the foot adjustment procedure for avoiding stepping on forbidden areas. The Proposed wait planning is verified by using computer graphics simulations.

• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.1833_1834
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• 2009

본 논문에서는 이동 로봇의 군집 제어를 위해 선도-추종 로봇 방법에 기반한 적응 군집 제어 방법을 제안한다. 제안된 제어 방법 에서는 선도 로봇의 선형 속도와 각 속도를 추정하기 위해 투영 법칙에 기반한 적응 기법을 이용하며, 또한 백스테핑 제어 기법을 이용하여 이동 로봇의 제어 입력인 토크를 구한다. 마지막으로, 컴퓨터 모의실험을 통해 본 논문에서 제안한 제어기의 성능을 검증하고자 한다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1992.10a
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• pp.215-219
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• 1992

This paper presents a motion coordination of two robot manipulators coordinating an object. To coordinate the object, a force/position control scheme in a mode of leaer/follower is devised. The dynamics of the object are incorporated into the dynamics of the leader arm, which yields a reduced order model of two arm system. In order to regulate interaction forces between two arm, the dynamics of the follower arm are expressed as force dynamic equations such that a novel direct forces between two arms and two different type of bounded input disturbances, boundedness and asymptotic stability results based on a proposed Lyapunov function are shown. Also, a sufficient condition for a stability robustness is derived based on the Lyapunov approach.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.28B no.9
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• pp.739-746
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• 1991

This paper develops a modified multilayer perceptron architecture which speeds up learning as well as the net's mapping accuracy. In Phase I, a cluster partitioning algorithm like the Kohonen's self-organizing feature map or the leader clustering algorithm is used as the front end that determines the cluster to which the input data belongs. In Phase II, this cluster selects a subset of the hidden layer nodes that combines the input and outputs nodes into a subnet of the full scale backpropagation network. The proposed net has been applied to two mapping problems, one rather smooth and the other highly nonlinear. Namely, the inverse kinematic problem for a 3-link robot manipulator and the 5-bit parity mapping have been chosen as examples. The results demonstrate the proposed net's superior accuracy and convergence properties over the original backpropagation network or its existing improvement techniques.

• Annual Conference of KIPS
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• 2010.11a
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• pp.527-530
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• 2010

효과적으로 군집 로봇을 제어하기 위해 리더 로봇을 선정하여 특별한 역할을 부여하는 방법이 보편적으로 사용되고 있다. 본 논문에서는 효과적인 지형 탐사를 위해 군집 로봇 그룹의 리더를 관리하는 방법을 제안한다. 그룹에 리더가 없는 경우와 리더를 선정한 경우로 나누어 2차원 지형을 탐사하는 실험을 수행하였다. 지형을 탐사하는 과정에서 리더 로봇이 동작 불능 상태가 되는 경우가 발생할 수도 있는데, 이때에는 그룹의 리더를 교체하는 방법을 사용하였다. 그룹의 리더를 관리하는 방법을 시뮬레이션 환경에 적용하여 실험한 결과, 리더가 없는 경우보다 지형 탐사 성공률이 훨씬 높아지는 것을 알 수 있었다.

• The Journal of Information Systems
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• v.31 no.1
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• pp.175-195
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• 2022

Purpose The purpose of this study is to examine news articles and analyze trends and key agendas related to artificial intelligence(AI). In particular, this study tried to compare the reporting behaviors of Korea and the United States, which is considered to be a leader in the field of AI. Design/methodology/approach This study analyzed news articles using a big data method. Specifically, main agendas of the two countries were derived and compared through the keyword frequency analysis, topic modeling, and language network analysis. Findings As a result of the keyword analysis, the introduction of AI and related services were reported importantly in Korea. In the US, the war of hegemony led by giant IT companies were widely covered in the media. The main topics in Korean media were 'Strategy in the 4th Industrial Revolution Era', 'Building a Digital Platform', 'Cultivating Future human resources', 'Building AI applications', 'Introduction of Chatbot Services', 'Launching AI Speaker', and 'Alphago Match'. The main topics of US media coverage were 'The Bright and Dark Sides of Future Technology', 'The War of Technology Hegemony', 'The Future of Mobility', 'AI and Daily Life', 'Social Media and Fake News', and 'The Emergence of Robots and the Future of Jobs'. The keywords with high centrality in Korea were 'release', 'service', 'base', 'robot', 'era', and 'Baduk or Go'. In the US, they were 'Google', 'Amazon', 'Facebook', 'China', 'Car', and 'Robot'.