• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1149-1152
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• 1996

Recently visual servo control is an important feature of an intelligent robot system. In this paper, we presents a Kalman filter approach for estimation of the linear optic flow model which is utilized in the visual servoing of a mobile robot. The proposed method is also compared with the conventional least mean square method via computer simulation.

• Journal of Advanced Marine Engineering and Technology
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• v.27 no.5
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• pp.641-647
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• 2003

The use of infrared range-finder sensor as the environment recognition system for mobile robot have the advantage of low sensing cost compared with the use of other vision sensor such as laser finder CCD camera. However, it is not easy to find the previous works on the use of infrared range-finder sensor for a mobile robot because of the non-linear characteristic of that. This paper describes the error due to non-linearity of a sensor and the correction of it using neural network. The neural network consists of multi-layer perception and Levenberg-Marquardt algorithm is applied to learning it. The effectiveness of the proposed algorithm is verified from experiment.

• Journal of Korea Society of Industrial Information Systems
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• v.22 no.3
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• pp.19-26
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• 2017

In this paper, a Linear Error Correction Code, Which is Applicable to Next Generation Wireless Communication System Technology, is Constructed Based on Performance Comparison and Transmission Based on the Premise of High Performance Mobile Rate Enhancement System. This is Because Data Rates are Becoming an Important Issue in Reed-Solomon Codes and Linear Error Code (LDPC) Used in the Physical Layer of Digital Communication and Broadcasting Technologies. Therefore, this paper Simulates the Performance of Reed - Solomon Code and LDPC Applied to Mobile Broadcasting DVB (Digital Video Broadcasting) System and Mobile Broadcasting in Digital Communication and Broadcasting, At this time, Technical Aspects of the Transmission Efficiency and Performance of the LDPC Replacing the Existing Reed-Solomon Code have been Verified from the Viewpoint of Efficiency.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.25 no.12
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• pp.1817-1825
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• 2021

Omnidirectional mobile robots can be mobile in any direction without changing the robot's direction, making them easy to apply in many applications and providing excellent maneuverability. Omnidirectional mobile robots have non-linear dynamic components such as friction, making them difficult to model accurately. In this paper, we linearize the mobile robot system using the mobile robot's inverse dynamics and integral sliding mode control method to remove these nonlinear components. And the position and velocity gains are optimized using a genetic algorithm to realize the optimal performance of the proposed system control method. As a result of the performance evaluation, the genetic algorithm's control method showed superior performance than the control method with an arbitrary gain. And the proposed inverse dynamic and integral sliding mode control method can be applied to other control methods. It can be beneficial for designing a linear control system.

• ETRI Journal
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• v.19 no.3
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• pp.242-258
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• 1997

The Qualcomm code excited linear prediction (QCELP) speech coder was adopted to increase the capacity of the CDMA Mobile System (CMS). In this paper, we implemented the QCELP speech coding algorithm by using TMS320C50 fixed point DSP chip. Also the fixed point simulation was done with C language. The computation complexity of QCELP on TMS320C50 was 10k words and data memory was 4k words. In the normal call test on the CMS, where mobile to mobile call test was done in the bypass mode without double vocoding, mean opinion score for the speech quality was he Qualcomm code excited linear prediction (QCELP) speech quality was 3.11.

• The Journal of the Korea institute of electronic communication sciences
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• v.10 no.7
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• pp.793-800
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• 2015

We presented a method to perform simultaneously both head-eye calibration and wheel calibration for a mobile robot that has a stereo camera mounted on the pan-tilt mechanism. Such a mobile robot system prevails recently. However, conventional methods are not applicable to this system because they assumed that camera systems were mounted on fixed structures. Building on conventional methods, we devised an iterative linear solution to solve the problem, and achieved satisfactory results in terms of accuracy in addition to efficiency due to simultaneous calibration. Furthermore, the calibration accuracy was improved by nonlinear optimization.

• Journal of the Korean Society for Precision Engineering
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• v.8 no.2
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• pp.47-56
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• 1991

The specifications needed for the mobile cranes are summarized as the following : 1) there may be not occured the oscillation of the cargo at unloading point. 2)the required time from departure point to destination point may be as short as possible. 3) there may be not a collapse of cargo caused by the oscillation in the course that the crago is mobilling. In this paper, the linear fractional transformation method is adopted as a method in order to improve the above mentioned problems. A design method of servo system is developed by modifying Davison's method for the case that the homogeneous differential equations of reference input and disturbance are different types. The real time control of a mobile crane system is implemented by 16bits microcomputer with A/D and D/A converters to illustrate the application of the adopted method. The experimental results for the three types of the design methods; linear fractional transformation method, servo system design method and optimal control method are shown for the comparison.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.1
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• pp.40-47
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• 2011

Mobile harbor which is a novel concept of ocean transportation to bring the containers from the cargo ship waiting on the ocean away is being focused now. To provide the mobile harbor with the stable loading/unloading condition, it is necessary to develop the oscillation mitigation technologies such as anti-rolling system. Anti-rolling system using AMD(Active Mass Driving) has merits that it can handle the disturbances more actively and mitigate the rolling oscillation faster than other type anti-rolling system. However, rack-and-pinion type AMD has problems such as big friction noise from gears and motor, wear and tear, and continuous maintenance. In this paper, novel anti-rolling system using Maglev type AMD for mobile harbor is suggested in order to resolve the problems caused by the friction. This novel anti-rolling system doesn't make any friction because it supports the moving mass by using magnetic levitation force and moves it by using propulsion force from the linear motor. The demo system of the novel anti-rolling system using maglev type AMD has been developed in order to investigate its feasibility. This paper presents the procedures and results of development of this demo system.

• IEMEK Journal of Embedded Systems and Applications
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• v.17 no.2
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• pp.109-114
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• 2022

This paper proposes a 2D joystick and LoRa-based teleoperation system for the Ackermman steering mobile robot. The proposed joystick mapping algorithm reduces the linear speed of the robot when the joystick is steered in the direction of the maximum steering angle in the high-speed driving state of a mobile robot to reduce the risk of rollover. The LoRa-based remote operation system is designed for remote operation of mobile robots that require long range communication with relatively little data transmission and low power. The proposed system is implemented and the experimental results demonstrate the effectiveness of the teleoperation system with respect to the stability of communication strength and the robot motion.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.11 no.1
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• pp.49-53
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• 2011

Path following of the mobile robot is one research hot for the mobile robot navigation. For the control system of the wheeled mobile robot(WMR) being in nonhonolomic system and the complex relations among the control parameters, it is difficult to solve the problem based on traditional mathematics model. In this paper, we presents a simple and effective way of implementing an adaptive following controller based on the PID for mobile robot path following. The method uses a non-linear model of mobile robot kinematics and thus allows an accurate prediction of the future trajectories. The proposed controller has a parallel structure that consists of PID controller with a fixed gain. The control law is constructed on the basis of Lyapunov stability theory. Computer simulation for a differentially driven nonholonomic mobile robot is carried out in the velocity and orientation tracking control of the nonholonomic WMR. The simulation results of wheel type mobile robot platform are given to show the effectiveness of the proposed algorithm.