• IEMEK Journal of Embedded Systems and Applications
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• v.6 no.3
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• pp.124-131
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• 2011

There are many researches in unmanned vehicles such as UGV(Unmanned Ground Vehicle), AUV(Autonomous Underwater Vehicle). In these researches, differential wheeled mobile robots are mainly used to develop the experimental stage algorithm because of the simplicity of modeling and control. Usually a commercial product used in the study, but in order to operate a commercial product to the restrictions because there would need to use a fixed protocol. Using the microprocessor makes the internal sensors(encoder and INS) and external sensors(ultrasonic sensors, infrared sensors) operate and to determine commands for robot operation. This paper propose a mobile robot design for suitable purpose.

• IEMEK Journal of Embedded Systems and Applications
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• v.6 no.5
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• pp.273-280
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• 2011

In this paper, we describe the structural reinforcement approach of the throwing-type firefighter assistance robot which can be thrown into a fire site to monitor inside the place and search trapped people while ensuring a firefighter's safety. The reinforcement design is focused on high strength with low weight for the robot. The in-depth structural analysis of the platform is carried out to track down the weakest part, especially with the 1.8m height of drop test. The analysis is verified by comparing with the 1.8m height of the drop test of the throwing-type firefighter assistance robot. The optimal approach for improving the strength of the weakest part aims at topological equivalent and equivalently stress distributed shape.

• IEMEK Journal of Embedded Systems and Applications
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• v.16 no.6
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• pp.307-312
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• 2021

This paper proposes an adaptive time-delayed control approach with the integral sliding-mode surface for the fast convergence rate of robot manipulators. Adaptive switching gain aims to guarantee the system stability in such a way as to suppress time-delayed estimation error in the proposed control approach. Moreover, it makes an effort to increase the convergence ability in reaching the phase. An integral sliding-mode surface is employed to achieve a fast convergence rate in the sliding phase. The stability of the proposed one is proved to be asymptotically stable in the Lyapunov stability. The efficiency of the proposed control approach is illustrated with a tutorial example in robot manipulator, which is compared to that of the existing control approach.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.7
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• pp.3566-3582
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• 2019

In intelligent warehouse picking system, the allocation of tasks has an important influence on the efficiency of the whole system because of the large number of robots and orders. The paper proposes a method to solve the task allocation problem that multi-robot task allocation problem is transformed into transportation problem to find a collision-free task allocation scheme and then improve the capability of task processing. The task time window and the power consumption of multi-robot (driving distance) are regarded as the utility function and the maximized utility function is the objective function. Then an integer programming formulation is constructed considering the number of task assignment on an agent according to their battery consumption restriction. The problem of task allocation is solved by table working method. Finally, simulation modeling of the methods based on table working method is carried out. Results show that the method has good performance and can improve the efficiency of the task execution.

• Advances in robotics research
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• v.2 no.3
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• pp.219-236
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• 2018

This research focuses on controlling robots and their formations using rough mereology as a means for spatial reasoning. The authors present the state of the art theory behind path planning, robot cooperation domains and ways of creating robot formations. Furthermore, the theory behind Rough Mereology as a way of implementing mereological potential field based path creation and navigation for single and multiple robots is described. An implementation of the algorithm is shown in simulation using RoboSim simulator. Five formations are tested (Line, Rhomboid, Snake, Circle, Cross) along with three decision systems (First In, Leader First, Horde Mode) as compared to other methods.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.340-345
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• 1998

A virtual reality system is implemented for the operator supervising a robot's operation at a remote site. For this implementation, a two D.O.F force-reflective joystick is designed to reflect the force/torque measured at the end of robotic manipulator and to generate the motion command for the robot by the operator using this joystick. In addition, the visual information that is captured by a CCD camera, is transmitted to the remote operator and is displayed on a CRT monitor. The operator who is holding the force reflective joystick and watching the CRT monitor can resolve unexpected problems that the robot confronts with. That is, the robot performs the tasks autonomously unless it confronts with unexpected events that can be resolved by only the operator. To demonstrate the feasibility of this system, a remote peg-in-hole operation is implemented and the experimental data are shown.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.238-243
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• 1998

This paper presents a new approach to visual servoing with the stereo vision. In order to control the position and orientation of a robot with respect to an object, a new technique is proposed using a binocular stereo vision. The stereo vision enables us to calculate an exact image Jacobian not only at around a desired location but also at the other locations. The suggested technique can guide a robot manipulator to the desired location without giving such priori knowledge as the relative distance to the desired location or the model of an object even if the initial positioning error is large. This paper describes a model of stereo vision and how to generate feedback commands. The performance of the proposed visual servoing system is illustrated by the simulation and experimental results and compared with the case of conventional method fur a SCARA robot.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.12
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• pp.30-47
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• 1997

This paper encompasses a general technology in robot deburring automation using solid rotaing burr tools. Deburring is a cumbersome area in finishing technology, where design concept and system implementation is based on knowhows and experiences rather then theoretical development. In the field engineering it is diffcult to find a clue to where and how to start the system design. This paper presents a guide inselection of tool concept of geometry and material. Also, the concept of tool compliance system is introduced, which is one of the most important factor in robot deburring. Typical problems encountered in the field are classified into 20 categories and the solutions are suggested by the proven technology from the expertise. Special problems in polymer and diecasting areas are also briefly mentioned.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10a
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• pp.926-931
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• 1987

The present study is devoted to the development of a simplified teaching method whereby the control data of the 3-dimensional operations of a playback-type trial robot can be stored in a personal computer. The control data of the 3-dimensional operations are given using an instruction wand handled by an operator. The operator's task is only to track a desired robot path with the wand. The 3-dimensional position of the wand are measured by ultrasonic devices, the principle of which was developed for this study and is introduced in detail. In order to clarify the applicability of this method, experts were performed with respect to a continuous-path teaching and a pick-and-place task teaching which are typical jobs of robot operators.

• Journal of the Korean Society of Industry Convergence
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• v.27 no.2_2
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• pp.319-324
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• 2024

In this paper, the Artificial Intelligence Space(AI-Space) for human-robot interface is presented, which can enable human-computer interfacing, networked camera conferencing, industrial monitoring, service and training applications. We present a method for representing, tracking, and objects(human, robot, chair) following by fusing distributed multiple vision systems in AI-Space. The article presents the integration of color distributions into particle filtering. Particle filters provide a robust tracking framework under ambiguous conditions. We propose to track the moving objects(human, robot, chair) by generating hypotheses not in the image plane but on the top-view reconstruction of the scene.