• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.1884-1887
• /
• 1997

The increasing concern over radiation exposure in the nuclear industry has fostered agrressive efforts to reduce the levels of radiation exposure. One area of the effot to reduce the radiation exposure is the development of a remote radiation monitoring system. Remote radiation monitoring can serve many benificaial functions reduce exposure to radiation by plant personnel, impruve the quality of the data that is collected and recognize the radiation environment easily. Radiation mapping system gives a good information that represents radiation level distribution. The system we have developed consists of a data acquistion parts, mobile robot and remote control parts. Data acquisition parts consist of radiation detection module and vision acquistion module which collect radiation data, visiion data and distance information. In remote control parts, the acquision data are processed and displayed. We have constructed radiation mapping image by overlaying the vision and radiation data. The radiation mapping techniques for displaying the results of the survey in an easily comprehendable form will facilitate a better understanding of the radiation environment in the facility. This system can reduce workers radiation exposure and aid to help work plan, so it has significant benifits in cost and safety.

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.1631-1634
• /
• 1997

Since surgery is usually a difficult task because of physiological tremor, eye strain, and tremor, contagious and radioactive hazard, it is necessary to develop micro-surgery telerobotic system using improved tools suitable for their specific tasks. Nowadays the growth of interest on microsurgery and medical applications of robotics has been so rapid. But the medical robots are only practical applications of the industrial robots. This paper identifies five general areas of advanced microsurgery based on the current technological background and expertise, and analyzes the motion, tool and accuracy with respect to microsurgery task, and proposed the criteria to evaluate micro-surgical manipulator. The analysis of microusrgery can be heplful to clarify some basic concept and design of micro-surgical manipulators. With these data we will alos propose an efficient in-parallel-platform manipulator having special kinematic structrue structure suitable for microsurgery.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.1001-1005
• /
• 2004

The objective of this paper is to develop the flexible manufacturing system (FMS), which is cooperated with the automatic warehouse and inventory control under holonic manufacturing system (HMS). The HMS is a next wave of manufacturing revolution to deal with dynamic changing. The architecture of HMS is developed for cooperation system between the automatic warehouse agents and the manufacturing agents. This research applies the concept of HMS to develop a distributed control system for automatic warehouse and FMS by industrial network. The parts of prototype manufacturing agents consist of the conveyer system and 3-axises robot that provide the variety patterns in order to work as punch process. Each order of productions depends on the reorder points(RP) of inventory levels. The computation results indicate an improvement by comparing with traditional centralized control.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.1920-1925
• /
• 2004

This paper describes a new method for 3D object recognition which used surface segment-based stereo vision. The position and orientation of an objects is identified accurately enabling a robot to pick up, even though the objects are multiple and partially occluded. The stereo vision is used to get the 3D information as 3D sensing, and CAD model with its post processing is used for building models. Matching is initially performed using the model and object features, and calculate roughly the object's position and orientation. Though the fine adjustment step, the accuracy of the position and orientation are improved.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.1511-1515
• /
• 2004

Machine vision system plays an important role in factory automation. Its many applications are found in automobile manufacturing industries, as an eye for robotic automation system. In this paper, an automobile position measuring vision system(APMVS) applicable to manufacturing line for under body painting of a car is introduced. The APMVS measures position and orientation of the car body to be sealed or painted by the robots. The configuration of the overall robotic sealing/painting system, design and application procedure, and application examples are described.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.1286-1290
• /
• 2004

This paper proposes a Distributed Autonomous Robotic System (DARS) based on an Artificial Immune Network (AIN) and a Classifier System (CS). The behaviors of robots in the system are divided into global behaviors and local behaviors. The global behaviors are actions to search tasks in environment. These actions are composed of two types: aggregation and dispersion. AIN decides one between these two actions, which robot should select and act on in the global. The local behaviors are actions to execute searched tasks. The robots learn the cooperative actions in these behaviors by the CS in the local. The relation between global and local increases the performance of system. Also, the proposed system is more adaptive than the existing system at the viewpoint that the robots learn and adapt the changing of tasks.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.1402-1407
• /
• 2004

Moving a fragile object from an initial point to a goal location in minimum time without damage is pursued in this paper. In order to achieve the goal, first of all, the range of maximum acceleration and velocity are specified, which the manipulator can generate dynamically on the path that is planned a priori considering the geometrical constraints. Later, considering the impulsive force constraint of the object, the range of maximum acceleration and velocity are going to be obtained to keep the object safe while the manipulator is carrying it along the curved path. Finally, a time-optimal trajectory is planned within the maximum allowable range of the acceleration and velocity. This time optimal trajectory planning can be applied for real applications and is suitable for not only a continuous path but also a discrete path.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.2017-2022
• /
• 2004

Data association is a process that matches a recent observation with known data set, which is used for the localization of mobile robots. Edges in topological maps have rich information which can be used for the data association. However, no systematic approach on using the edge data for data association has been reported. This paper proposes a systematic way of utilizing the edge data for data association. First, we explain a Local Generalized Voronoi Angle(LGA) to represent the edge data in 1-dimension. Second, we suggest a key factor extraction procedure from the LGA to reduce the number by $2^7-2^8$ times, for computational efficiency using the wavelet transformation. Finally we propose a way of data association using the key factors of the LGA. Simulations show that the proposed data association algorithm yields higher probability for similar edges in computationally efficient manner.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.824-828
• /
• 2003

This paper explains problems of force-reflecting teleoperation grinding work and proposes some methods to solve those. For stable contact between robot tool(grindstone) and contact surface the mechanical impedance force control is used. The sliding phenomenon of grindstone has been appeared at the contact surface during the grinding work. The sliding problems caused by friction and rotation of grindstone are eliminated by using tangential direction sliding compensation control. The rotation force of grindstone makes the tool move to tangential direction along the surface suddenly even though an operator pushes the tool only in normal direction to the surface. Normal direction force control is applied for grinder not to roll and fracture on the grinding surface. Vibration problem of grindstone is decreased by second order low-pass filter. Therefore we can precise grinding work at the grinding surface and feel the reality

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.681-686
• /
• 2003

In this paper, we propose an algorithm to extract valid planar regions from stereo images for visual navigation of mobile robots. The algorithm is based on the difference image between the stereo images obtained by applying Homography matrix between stereo cameras. Illegal planar regions are filtered out by the use of labeling of the difference images and filtering of invalid blobs using the size of each blob. Also, illegal large planar regions such as walls are removed by adopting a weighted low-pass filtering of the difference image using the past difference images. The algorithms are experimented successfully by the use of stereo camera system built in a mobile robot and a PC-based real-time vision system.