• Journal of Institute of Control, Robotics and Systems
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• v.18 no.10
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• pp.928-933
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• 2012

In this paper, the IR and compass sensors for the underwater system were used. The walls of the water tank have been recognized and avoided treating the walls as obstacles by the bio-mimetic underwater robot. This paper is consists of two parts: 1.The hardware part for the IR and compass sensors and 2.The software part for obstacle avoidance algorithm while the bio-mimetic robot is swimming with the obstacle recognition. Firstly, the hardware part controls through the RS-485 communications between a microcontroller and the bio-mimetic underwater robot. The software part is simulated for obstacle recognition and collision avoidance based upon the data from IR and compass sensors. Actually, the bio-mimetic underwater robot recognizes where is the obstacle as well as where is the bio-mimetic robot itself while it is moving in the water. While the underwater robot is moving at a constant speed recognizing the wall of water tank as an obstacle, an obstacle avoidance algorithm is applied for the wall following swimming based upon the IR and compass sensor data. As the results of this research, it is concluded that the bio-mimetic underwater robot can follow the wall of the water tank efficiently, while it is avoiding collision to the wall.

• Journal of Institute of Control, Robotics and Systems
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• v.1 no.1
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• pp.50-57
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• 1995

In this paper, the design and the implementation of the controller for an articulate robot, which is developed in our Automatic Control Laboratory, are mainly discussed. The controller reduces software computational load via distributed processing method using multiple CPU's, and simplifies structures by the time-division control with TMS320C31 DSP chip. The method of control is based on the fuzzy-compensated PID control with scale factor, which compensates for the influence of load variation resulting from the various postures of the robot with conventional PID scheme. The application of the proposed controller to the robot system with DC servo-motors shows some excellent control capabilities. Also, the response characteristics of system for the various trajectory commands verify the superiority of the controller.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.7
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• pp.699-708
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• 2015

In the testing of a software component-based robot system, generating test cases for the system is a time-consuming and difficult task that requires the combining of test data. This paper proposes an adaptive combinatorial testing method which is based on the input/output relationship among components and which automatically generates the test cases for the system. The proposed algorithm first generates an input/output relationship graph in order to analyze the input/output relationship of the system. It then generates the reduced set of test cases according to the analyzed type of input/output relationship. To validate the proposed algorithm some comparisons are given in terms of the time complexity and the number of test cases.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1025-1030
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• 2005

This paper deals with the emotional model of the software-robot. The software-robot requires several capabilities such as sensing, perceiving, acting, communicating, and surviving. and so on. There are already many studies about the emotional model like KISMET and AIBO. The new emotional model using the modified friendship scheme is proposed in this paper. Quite often, the available emotional models have time invariant human respond architectures. Conventional emotional models make the sociable robot get around with humans, and obey human commands during robot operation. This behavior makes the robot very different from real pets. Similar to real pets, the proposed emotional model with the modified friendship capability has time varying property depending on interaction between human and robot.

• Journal of the Korean Institute of Telematics and Electronics
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• v.22 no.4
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• pp.59-65
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• 1985

This paper presents a design of the PWM digital servo controller and a real-time trajectory planning algorithm and a trajectory tracking algorithm for industrial robot. To be specific, a decentralized control system with hierarchical structure for industrial robot, related hardware and software, and monitor program for convinence of user are implemented. Actually, it was recognized by experiments that continuous path control on the R4 plane was possible using the above servo controller and control algorithms.

• The KIPS Transactions:PartD
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• v.11D no.2
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• pp.461-470
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• 2004

As the semiconductor industrials change 200㎜-sized semiconductor wafer production process to 300㎜-sized one, it requires to develop the software for monitoring and simulating the robot which transfers a 300㎜-sized semiconductor wafer. Because such a software don't run at standalone but communicate MCS(Material Control System) and Its subsystem a robot, its architecture is very complex. Therefore, in order to develop such a software systematically, we must utilize an object-oriented development methodology. UML. This paper presents an UML process application developing the software for monitoring and simulating the robot which transfers a semiconductor wafer on the production process.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.714-717
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• 1992

An intelligent robot control system is developed, which is based on extensible hardwares and softwares. The system could be used to test advanced and complex real time application programs to avoid constraints on present robot control system in executing a complex or precise algorithms, due to the limitation of hardware and software. In this paper we used the RCCL(Robot Control C Library) on SUN4 as a supervisory system that plays the path planning and man-machine interface. And we used VxWORKS as a real time OS on a VME bus CPU equiped with some interface boards. Two systems were connected through the Ethernet network. We used the 4 axis manipulator, FARA, developed by Samsung Electronics Co.

• The Journal of Korea Robotics Society
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• v.16 no.1
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• pp.72-78
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• 2021

This paper presents a robust impedance control of high-DOF robot based on disturbance observer(DOB). A novel DOB is derived by considering the residual disturbance caused by the difference between actual disturbance and disturbance decoupling input which utilizes the estimated disturbance. It focuses on the elimination of the residual disturbance and improvement of the control performance as well as the good estimation of disturbances. In the control of high-DOF robot, numerical dynamic model, which is conducted by a software based on dynamics, is utilized because the analytical model of high-DOF robot is difficult to be obtained. The simulation of high-DOF robot with numerical dynamic model is provided to verify the performance of the proposed controller.

• Journal of the Korea Society for Simulation
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• v.28 no.2
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• pp.149-158
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• 2019

This paper introduces an integrated Modeling & Simulation framework for the efficient development of the rescue robot which rescues a wounded patients or soldiers and disposes a dangerous objects or explosive materials in the battlefields and disastrous environments. An integrated M&S(Modeling & Simulation) framework would have enabled us to perform the dynamic simulation program GAZEBO based Software-in-the-Loop Simulation(SILS) which is to replacing the robot platform hardware with a simulation software. An integrated M&S framework would help us to perform designing robot and performance validation of robot control results more efficiently. Furthermore, Tele-operation performance in the unstructured environments could be improved. We review a case study of applying an integrated M&S framework tool in validating performance of mobility stabilization control, one of the most important control strategy in the rescue robot.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.10
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• pp.921-927
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• 2013

This paper presents a user interface for vision based indirect teaching of a robotic manipulator with Kinect and IMU (Inertial Measurement Unit) sensors. The user interface system is designed to control the manipulator more easily in joint space, Cartesian space and tool frame. We use the skeleton data of the user from Kinect and Wrist-mounted IMU sensors to calculate the user's joint angles and wrist movement for robot control. The interface system proposed in this paper allows the user to teach the manipulator without a pre-programming process. This will improve the teaching time of the robot and eventually enable increased productivity. Simulation and experimental results are presented to verify the performance of the robot control and interface system.