• Title/Summary/Keyword: robot systems

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Strategy of Object Search for Distributed Autonomous Robotic Systems

  • Kim Ho-Duck;Yoon Han-Ul;Sim Kwee-Bo
    • International Journal of Fuzzy Logic and Intelligent Systems
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    • v.6 no.3
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    • pp.264-269
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    • 2006
  • This paper presents the strategy for searching a hidden object in an unknown area for using by multiple distributed autonomous robotic systems (DARS). To search the target in Markovian space, DARS should recognize th ε ir surrounding at where they are located and generate some rules to act upon by themselves. First of all, DARS obtain 6-distances from itself to environment by infrared sensor which are hexagonally allocated around itself. Second, it calculates 6-areas with those distances then take an action, i.e., turn and move toward where the widest space will be guaranteed. After the action is taken, the value of Q will be updated by relative formula at the state. We set up an experimental environment with five small mobile robots, obstacles, and a target object, and tried to research for a target object while navigating in a un known hallway where some obstacles were placed. In the end of this paper, we present the results of three algorithms - a random search, an area-based action making process to determine the next action of the robot and hexagon-based Q-learning to enhance the area-based action making process.

3D Global Dynamic Window Approach for Navigation of Autonomous Underwater Vehicles

  • Tusseyeva, Inara;Kim, Seong-Gon;Kim, Yong-Gi
    • International Journal of Fuzzy Logic and Intelligent Systems
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    • v.13 no.2
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    • pp.91-99
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    • 2013
  • An autonomous unmanned underwater vehicle is a type of marine self-propelled robot that executes some specific mission and returns to base on completion of the task. In order to successfully execute the requested operations, the vehicle must be guided by an effective navigation algorithm that enables it to avoid obstacles and follow the best path. Architectures and principles for intelligent dynamic systems are being developed, not only in the underwater arena but also in related areas where the work does not fully justify the name. The problem of increasing the capacity of systems management is highly relevant based on the development of new methods for dynamic analysis, pattern recognition, artificial intelligence, and adaptation. Among the large variety of navigation methods that presently exist, the dynamic window approach is worth noting. It was originally presented by Fox et al. and has been implemented in indoor office robots. In this paper, the dynamic window approach is applied to the marine world by developing and extending it to manipulate vehicles in 3D marine environments. This algorithm is provided to enable efficient avoidance of obstacles and attainment of targets. Experiments conducted using the algorithm in MATLAB indicate that it is an effective obstacle avoidance approach for marine vehicles.

Adaptive Learning Control fo rUnknown Monlinear Systems by Combining Neuro Control and Iterative Learning Control (뉴로제어 및 반복학습제어 기법을 결합한 미지 비선형시스템의 적응학습제어)

  • 최진영;박현주
    • Journal of the Korean Institute of Intelligent Systems
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    • v.8 no.3
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    • pp.9-15
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    • 1998
  • This paper presents an adaptive learning control method for unknown nonlinear systems by combining neuro control and iterative learning control techniques. In the present control system, an iterative learning controller (ILC) is used for a process of short term memory involved in a temporary adaptive and learning manipulation and a short term storage of a specific temporary action. The learning gain of the iterative learning law is estimated by using a neural network for an unknown system except relative degrees. The control informations obtained by ILC are transferred to a long term memory-based feedforward neuro controller (FNC) and accumulated in it in addition to the previously stored infonnations. This scheme is applied to a two link robot manipulator through simulations.

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Mixing Collaborative and Hybrid Vision Devices for Robotic Applications (로봇 응용을 위한 협력 및 결합 비전 시스템)

  • Bazin, Jean-Charles;Kim, Sung-Heum;Choi, Dong-Geol;Lee, Joon-Young;Kweon, In-So
    • The Journal of Korea Robotics Society
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    • v.6 no.3
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    • pp.210-219
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    • 2011
  • This paper studies how to combine devices such as monocular/stereo cameras, motors for panning/tilting, fisheye lens and convex mirrors, in order to solve vision-based robotic problems. To overcome the well-known trade-offs between optical properties, we present two mixed versions of the new systems. The first system is the robot photographer with a conventional pan/tilt perspective camera and fisheye lens. The second system is the omnidirectional detector for a complete 360-degree field-of-view surveillance system. We build an original device that combines a stereo-catadioptric camera and a pan/tilt stereo-perspective camera, and also apply it in the real environment. Compared to the previous systems, we show benefits of two proposed systems in aspects of maintaining both high-speed and high resolution with collaborative moving cameras and having enormous search space with hybrid configuration. The experimental results are provided to show the effectiveness of the mixing collaborative and hybrid systems.

Positioning and Driving Control of Fork-type Automatic Guided Vehicle With Laser Navigation

  • Kim, Jaeyong;Cho, Hyunhak;Kim, Sungshin
    • International Journal of Fuzzy Logic and Intelligent Systems
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    • v.13 no.4
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    • pp.307-314
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    • 2013
  • We designed and implemented a fork-type automatic guided vehicle (AGV) with a laser guidance system. Most previous AGVs have used two types of guidance systems: magnetgyro and wire guidance. However, these guidance systems have high costs, are difficult to maintain with changes in the operating environment, and can drive only a pre-determined path with installed sensors. A laser guidance system was developed for addressing these issues, but limitations including slow response time and low accuracy remain. We present a laser guidance system and control system for AGVs with laser navigation. For analyzing the performance of the proposed system, we designed and built a fork-type AGV, and performed repetitions of our experiments under the same working conditions. The results show an average positioning error of 51.76 mm between the simulated driving path and the driving path of the actual fork-type AGV. Consequently, we verified that the proposed method is effective and suitable for use in actual AGVs.

Multiple-Background Model-Based Object Detection for Fixed-Embedded Surveillance System (고정형 임베디드 감시 카메라 시스템을 위한 다중 배경모델기반 객체검출)

  • Park, Su-In;Kim, Min Young
    • Journal of Institute of Control, Robotics and Systems
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    • v.21 no.11
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    • pp.989-995
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    • 2015
  • Due to the recent increase of the importance and demand of security services, the importance of a surveillance monitor system that makes an automatic security system possible is increasing. As the market for surveillance monitor systems is growing, price competitiveness is becoming important. As a result of this trend, surveillance monitor systems based on an embedded system are widely used. In this paper, an object detection algorithm based on an embedded system for a surveillance monitor system is introduced. To apply the object detection algorithm to the embedded system, the most important issue is the efficient use of resources, such as memory and processors. Therefore, designing an appropriate algorithm considering the limit of resources is required. The proposed algorithm uses two background models; therefore, the embedded system is designed to have two independent processors. One processor checks the sub-background models for if there are any changes with high update frequency, and another processor makes the main background model, which is used for object detection. In this way, a background model will be made with images that have no objects to detect and improve the object detection performance. The object detection algorithm utilizes one-dimensional histogram distribution, which makes the detection faster. The proposed object detection algorithm works fast and accurately even in a low-priced embedded system.

Direct Learning Control for a Class of Multi-Input Multi-Output Nonlinear Systems (다입력 다출력 비선형시스템에 대한 직접학습제어)

  • 안현식
    • Journal of the Institute of Electronics Engineers of Korea SC
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    • v.40 no.2
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    • pp.19-25
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    • 2003
  • For a class of multi-input multi-output nonlinear systems which perform a given task repetitively, an extended type of a direct leaning control (DLC) is proposed using the information on the (vector) relative degree of a multi-input multi-output system. Existing DLC methods are observed to be applied to a limited class of systems with the relative degree one and a new DLC law is suggested which can be applied to systems having higher relative degree. Using the proposed control law, the control input corresponding to the new desired output trajectory is synthesized directly based on the control inputs obtained from the learning process for other output trajectories. To show the validity and the performance of the proposed DLC, simulations are performed for trajectory tracking control of a two-axis SCARA robot.

Simultaneous and Coded Driving System of Ultrasonic Sensor Array for Object Recognition in Autonomous Mobile Robots

  • Kim, Ch-S.;Choi, B.J.;Park, S.H.;Lee, Y.J.;Lee, S.R.
    • 제어로봇시스템학회:학술대회논문집
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    • 2003.10a
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    • pp.2519-2523
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    • 2003
  • Ultrasonic sensors are widely used in mobile robot applications to recognize external environments, because they are cheap, easy to use, and robust under varying lighting conditions. In most cases, a single ultrasonic sensor is used to measure the distance to an object based on time-of-flight (TOF) information, whereas multiple sensors are used to recognize the shape of an object, such as a corner, plane, or edge. However, the conventional sequential driving technique involves a long measurement time. This problem can be resolved by pulse coding ultrasonic signals, which allows multi-sensors to be fired simultaneously and adjacent objects to be distinguished. Accordingly, the current presents a new simultaneous coded driving system for an ultrasonic sensor array for object recognition in autonomous mobile robots. The proposed system is designed and implemented using a DSP and FPGA. A micro-controller board is made using a DSP, Polaroid 6500 ranging modules are modified for firing the coded signals, and a 5-channel coded signal generating board is made using a FPGA. To verify the proposed method, experiments were conducted in an environment with overlapping signals, and the flight distances for each sensor were obtained from the received overlapping signals using correlations and conversion to a bipolar PCM-NRZ signal.

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Automated Protein-Expression Profiling System using Crude Protein Direct Blotting Method

  • Kobayashi, Hironori;Torikoshi, Yasuhiro;Kawasaki, Yuko;Ishihara, Hideki;Mizumoto, Hiroshi
    • 제어로봇시스템학회:학술대회논문집
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    • 2003.10a
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    • pp.2356-2361
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    • 2003
  • Proteome research in the medical field is expected to accelerate the understanding of disease mechanism, and to create new diagnostic concept. For protein profiling, this paper proposes a new methodology named CPDIB (Crude Protein Direct Blotting). In the CPDIB procedure, crude protein sample is directly immobilized on a membrane and the expression of protein molecules in the sample are analyzed quantitatively by using a special device called ImmobiChip, where the membrane is used as a field of the immune reaction. The over-all structure of the ImmobiChip is based on the conventional Slot blot device. Mechanical improvement in the air-tightness of the case holding the membrane realizes the direct blotting and results in high performance of stability in the immune reaction. In the measurement of multiple proteins, a dispensing robot is used for increasing the efficiency of handling of liquid. Cooperation of the dispensing robot with the ImmobiChip for immobilizing proteins realizes automated and stable performance of the CPDIB procedure. This paper shows the evaluation of the air-tightness of the ImmobiChip, the ability of analyzing proteins using the CPDIB procedure and the performance of the automated equipment.

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Local Minimum Free Motion Planning for Mobile Robots within Dynamic Environmetns

  • Choi, Jong-Suk;Kim, Mun-Sang;Lee, Chong-Won
    • 제어로봇시스템학회:학술대회논문집
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    • 2003.10a
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    • pp.1921-1926
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    • 2003
  • We build a local minimum free motion planning for mobile robots considering dynamic environments by simple sensor fusion assuming that there are unknown obstacles which can be detected only partially at a time by proximity sensors and can be cleaned up or moved slowly (dynamic environments). Potential field is used as a basic platform for the motion planning. To clear local minimum problem, the partial information on the obstacles should be memorized and integrated effectively. Sets of linked line segments (SLLS) are proposed as the integration method. Then robot's target point is replaced by virtual target considering the integrated sensing information. As for the main proximity sensors, we use laser slit emission and simple web camera since the system gives more continuous data information. Also, we use ultrasonic sensors as the auxiliary sensors for simple sensor fusion considering the advantages in that they give exact information about the presence of any obstacle within certain range. By using this sensor fusion, the dynamic environments can be dealt easily. The performance of our algorithm is validated via simulations and experiments.

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