• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1917-1920
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• 2003

Automatic tracking of a moving object such as a person is a demanding technique especially in surveillance. This paper describes an experimental system for tracking a moving object on the ground by using a visually controlled aerial robot. A blimp is used as the aerial robot in the proposed system because of its locality in motion and its silent nature. The developed blimp is equipped with a camera for taking downward images and four rotors for controlling the progression. Once a camera takes an image of a specified moving object on the ground, the blimp is controlled so that it follows the object by the employment of the visual information. Experimental results show satisfactory performance of the system. Advantages of the present system include that images from the air often enable us to avoid occlusion among objects on the ground and that blimp’s progression is much less restricted in the air than, e.g., a mobile robot running on the ground.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.793-797
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• 2003

In this paper, we present a self-localization method for mobile robots using vertical line features of indoor environment. When a 2D map including feature points and color information is given, a mobile robot moves to the destination, and acquires images by one camera from the surroundings having vertical line edges. From the image, vertical line edges are detected, and pattern vectors meaning averaged color values of the left and right region of each line segment are computed. The pattern vectors are matched with the feature points of the map using the color information and the geometrical relationship of the points. From the perspective transformation of the corresponded points, nonlinear equations are derived. Localization is carried out from solving the equations by using Newton's method. Experimental results show that the proposed method using mono view is simple and applicable to indoor environment.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.30B no.10
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• pp.50-58
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• 1993

The problem of trajectory planning in two redundant robot systems is considered. The trajectory of each robot for the cooperative task is generated so that the robots assume their optimal configurations while following a given desired task. The cooperative task compatibility in and the weighted sum of manipulabilities are proposed and investigated as quality measures. The cooperative task compatibility includes the velocity and force transmission charateristics to the task requirements and so it measures the compatibilities of robot postures with respect to a given task. The weighted sum of manipuabilities of robot postures with respect to a given task. The weighted sum of manipulabilities is also considered as a quality measure since it is helpful to avoid singularities. The usefulness of the cooperative task compatibility and the weighted sum of manipulabilities are shown by computer simulation studies.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1774-1778
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• 1991

In this paper, we discuss the smooth hand-over of an object from a man to a robot and vice versa. In order for a robot to grasp an object or release a grasped object stably without using object model, as a man does, one of the basic approaches is the physiological method motivated by the study of human hands. So, we analyze human's grasping behavior by measuring grasp and friction forces simultaneously as a man grasps a experimental device which is designed for grasping or hand-over. Also, we investigate two methods that can predict when and bow fingers will slip upon a grasped object. And then, we propose a method of the hand-over of an object between a man and a robot by applying human's capability to a robot hand control.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.491-495
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• 1993

In this paper, we present a methodology to model an indoor environment of a mobile robot using fuzzy numbers and to make a global map of the robot environment using graph theory. We describe any geometric primitive of robot environment as a parameter vector in parameter space and represent the ill-known values of the prameterized geometric primitive by means of fuzzy numbers restricted to appropriate membership functions. Also we describe the spatial relations between geometric prinitives using graph theory for local maps. For making the global map of the mobile robot environment, the correspondence problem between local maps is solved using a fuzzy similarity measure and a Bipartite graph matching technique.

• Journal of applied mathematics & informatics
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• v.26 no.3_4
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• pp.793-809
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• 2008

The aim of this article is focused on providing numerical solutions for system of second order robot arm problem using the RK-eight stage seventh order limiting formulas. The parameters governing the arm model of a robot control problem have also been discussed through RK-eight stage seventh order limiting algorithm. The precised solution of the system of equations representing the arm model of a robot has been compared with the corresponding approximate solutions at different time intervals. Results and comparison show the efficiency of the numerical integration algorithm based on the absolute error between the exact and approximate solutions. Based on the numerical results a thorough comparison is carried out between the numerical algorithms.

• The Journal of Korea Robotics Society
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• v.6 no.1
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• pp.49-57
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• 2011

In many industries, the accurate and quick checking of goods in storage is of great importance. Most today's inventory checking is based on bar code scanning, but the relative position between a bar code and an optical scanner should be maintained in close distance and proper angle for the successful scanning. This requirement makes it difficult to fully automate the inventory information/control systems. The use of RFID technology can be a solution for overcoming this problem. The mobile robot presented in this paper is equipped with an RFID tag scanning system, that automates the otherwise manual or semi-automatic inventory checking process. We designed the robot system in a quite practical approach, and the developed system is close to the commercialization stage. In our experiments, the robot could collect information of goods stacked on shelves autonomously without any failure and maintain corresponding database while it navigated predefined paths between the shelves using vision.

• Journal of Advanced Navigation Technology
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• v.7 no.2
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• pp.162-170
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• 2003

In this paper, we propose a robust controller for trajectory control of n-link robot manipulators using feature based on visual feedback. In order to reduce tracking error of the robot manipulator due to parametric uncertainties, integral action is included in the dynamic control part of the inner control loop. The desired trajectory for tracking is generated from feature extraction by the camera mounted on the end effector. The stability of the robust state feedback control system is shown by the Lyapunov method. Simulation and experimental results on a 5-link robot manipulator with two degree of freedom show that the proposed method has good tracking performance.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.815-820
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• 1993

Robotic technology has been grown up conspicuously by its versatility. KAERI has been involved in one of facets of robot industry to keep abreast of rapid evolving technologies In robotic field and has launched long-term R&D plan to assure the stable nuclear energy. In this paper, the latest development status of teleoperated robot system has been presented with emphasis the configuration of overall control system with 3 dimensional graphic system that provides operators with tele-presence situation. This robot system under development, composed of master-slave arm with controller and graphic simulator, is operated by a master manipulator to enable an installation and removal operation of nozzle dam system for steam generator. Evaluation and analysis has been carried out to get optimal parameters of robot system.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.20-25
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• 1993

The control of the motion of a mobile robot is studied. The driving and steering motor assembly is located in the front of the mobile robot. The position of the mobile robot is determined by the steering angle and driving distance. For the controller design, a time-series multivariate model of the autogressive exogenous (ARX) type is used to describe the input-output relation. The discounted least square method is used to estimate parameters of the time-series model. A self-tuning controller is so designed that the position of the center of the mobile robot track the given trajectory. Simulation result controlled by a self-tuning controller is presented to illustrate the approach.