• Journal of Institute of Control, Robotics and Systems
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• v.19 no.9
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• pp.782-790
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• 2013

In this paper, we propose a better solution for swimming plans of an articulated underwater robot, Crabster, with a view point of biomimetics. As a biomimetic model of underwater organisms, we chose diving beetles structurally similar to Crabster. Various swimming locomotion of the diving beetle has been observed and sorted by robotics technology through experiments with a high-speed camera and image processing software Image J. Subsequently, coordinated patterns of rhythmic movements of the diving beetle are reproduced by simple control parameters in a parameter space which make it easy to control trajectories and velocities of legs. Furthermore, a simulation was implemented with an approximated model to predict the motion of the robot under development based on the classified forward and turning locomotion. Consequently, we confirmed the applicability of parameterized leg locomotion to the articulated underwater robot through the simulated results by the approximated model.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.10-13
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• 1987

The main work of this paper are the manufacture of six degree of freedom industrial robot control hardware of 16 bit CPU and the development of five motion control software. The work would draw on KIT of Robotics Laboratory whose extensive experience in these areas; in particular the 68000 assembler and Modula-2 languages, and existing robot control systems. We found that this controller is good for the robot controller of PID types. But, for the use of self-tuning algorithms and real time calculations we need 32 bit CPU robot controller such as MC 68020 microprocessor.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.821-825
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• 1991

This paper presents an architecture and control logic of a Flexible Manufacturing Cell (FMC) which is one of the important elements under Computer Integrated Manufacturing (CIM) environment. To implement FMC, it is very important to develop a software which can control and monitor the overall system in an integrated environment. Our primary concern in this research is not to develop individual systems, but to integrate them in the hierarchical control level. Progress on the research of integrating CAD/CAM, Process Planning, Off-line Robot Programming and Simulation module into FMC control system is reported. FMC hardware system used here has an Automated Storage & Retrieval System (AS/RS), a conveyor system, a transfer robot, a CNC milling machine, a bar-code system, and an IBM PC/AT as Cell Control System (CCS). In order to demonstrate the operational result, the name plates, text-carved aluminium plates, are manufactured by this system.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1430-1434
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• 2004

Recently, Virtual reality parts is applied in various fields of industry. In this paper we developed basic components for virtual robot control system interfaced with real environment. For this, a real robot with virtual interface module is developed and virtual robot of similar image with real robot is created by putting on 3D graphic texture to the real robot. To build an unknown environment to be linked with virtual environment, we proposed a hough transformation based algorithm. Our proposed algorithm consists of navigation module by using fuzzy engine and map building module. Experiments using a developed robot illustrate the method.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.1-6
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• 1992

An autonomous mobile robot has been developed which can follow a travel map drawn on a monitor screen using a software. The robot works as an exhbition guide making announcement regrading the events to take place or introducing the products on display. This mobile robot computes the world position and heading direction through camera image, ultrasonic and infrared sensors in real time using specially designed algorithm. This mobile robot will be exhibited at '93 Tae-Jeon EXPO for an exhibition guide, and will be used in a plant or a hospital for materials handling purposes.

• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.886-889
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• 2003

In this paper a design of educational robot based on a PC and/or a microprocessor is discussed. The educational robot has 5 DOF and Is made with Swiss Mini Servomotor and Motor Controller IC LM629N. Also, a GUI(Graphical User Interface) is programmed by Visual Basic. This system is completed to consider control properties of the educational robot with 5-DOF that can be changed the parameter of controller by software.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.872-875
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• 1995

The strategy of open architecture control system intends to integrate manufacturing components on a single platform, so that a particular component can be easily added and/or replaced. Therefore, the control scheme is neither hardware dependent nor software dependent. In this paper a modular and object oriented approach for the open architecture structure of control systems is invesigated. A standard reference model for genetic manufacturer system, which consists of three modules; hardware module, operating system module, and application software module, is first proposed. Then a standard reference model for open architecture robot control system is suggested.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2508-2513
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• 2003

This paper presents a nuclear steam generator tube inspection/maintenance robot system. The robot assists in automatic non-destructive testing and the repair of nuclear steam generator tubes welded into a thick tube sheet that caps a hemispherical or quarter-sphere plenum which is a high-radiation area. For easy carriage and installation, the robot system consists of three separable parts: a manipulator, a water-chamber entering and leaving device for the manipulator and a manipulator base pose adjusting device. A software program to control and manage the robotic system has been developed on the NT based OS to increase the usability. The software program provides a robot installation function, a robot calibration function, a managing and arranging function for the eddy-current test, a real time 3-D graphic simulation function which offers remote reality to operators and so on. The image information acquired from the camera attached to the end-effecter is used to calibrate the end-effecter pose error and the time-delayed control algorithm is applied to calculate the optimal PID gain of the position controller. The developed robotic system has been tested in the Ulchin NPP type steam generator mockup in a laboratory.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.4
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• pp.399-405
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• 2008

Recently, robot technology is actively going on progress to the field of various services such as home care, medical care, entertainment, and etc. Because these service robots are in use nearby person, they need to be operated safely even though hardware and software faults occur. This paper proposes a Fault-Tolerant middleware for a robot system, which has following two characteristics: supporting of heterogeneous network interface and processing of software components and network faults. The Fault-Tolerant middleware consists of a Service Layer(SL), a Network Adaptation Layer(NAL), a Network Interface Layer(NIL), a Operating System ion Layer(OSAL), and a Fault-Tolerant Manager(FTM). Especially, the Fault-Tolerant Manager consists of 4 components: Monitor, Fault Detector, Fault Notifier, and Fault Recover to detect and recover the faults effectively. This paper implements and tests the proposed middleware. Some experiment results show that the proposed Fault-Tolerant middleware is working well.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.3
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• pp.270-274
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• 2002

This paper presents a teleoperation system that combines computer network and an autonomous mobile robot. We control remotely an autonomous mobile robot with vision over the Internet to guide it under unknown environments in the real time. The main feature of this system is that local operators need a web browser and a computer connected to the communication network and so they can command the robot in a remote location through the home page. The hardware architecture of this system consists of an autonomous mobile robot, workstation, and local computers. The software architecture of this system includes the client part for the user interface and robot control as well as the server part for communication between users and robot. The server and client systems are developed using Java language which is suitable to internet application and supports multi-platform. Furthermore. this system offers an image compression method using JPEG concept which reduces large time delay that occurs in network during image transmission.