• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.121.2-121
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• 2001

Many of today´s robot are required to perform tasks which demand a high level of accuracy in end-effector positioning. Those rigid robots are very inefficient and slow because its have large and heavy links, In an attempt to solve these problems, a robots using flexible beam were created. But the single-link flexible beam is infinite-dimensional system. Many researchers have proposed controlling such a beam an approximated model consisting of a finite a number of models. In this paper, we start by deriving the analytic model for the dynamics of general single-link beam, and a controller is designed for flexible beam with integral type servo system bases of the linear matrix inequality (LM) technique. To the end, simulation results show that a designed controller guarantees affective vibration control the single-link flexible beam.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.123.5-123
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• 2001

For autonomous navigation of the mobile robots, the robots' capability to recognize 3D environment is necessary. In this paper, an on-line 3D map building method for autonomous mobile robots is proposed. To get range data on the environment, we use a sensor system which is composed of a structured light and a CCD camera based on optimal triangulation. The structured laser is projected as a horizontal strip on the scene. The sensor system can rotate$\pm$30$^{\circ}$ with a goniometer. Scanning the system, we get the laser strip image for the environments and update planes composing the environment by some image processing steps. From the laser strip on the captured image, we find a center point of each column, and make line segments through blobbing these center points. Then, the planes of the environments are updated. These steps are done on-line in scanning phase. With the proposed method, we can efficiently get a 3D map about the structured environment.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.100.3-100
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• 2002

This paper presents the method for detection and tracking of multiple humans robustly in mobile platform. The perception of human is performed in real time through the processing of images acquired from a moving stereo vision system. We performed multi-cue integration such as human shape, skin color and depth information to detect and track each human in moving background scene. Human shape is measured by edge-based template matching on distance transformed image. Improving robustness for human detection, we apply the human face skin color in HSV color space. And we could increase the accuracy and the robustness in both detection and tracking by applying random sampling stochastic estimati...

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.108.4-108
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• 2002

This paper aims to derive a mathematical model of the dynamics of handling tasks in robot fingers which stably grasps and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for differential-algebraic equations of overall...

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.41.3-41
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• 2002

Motion estimation using Full-Search(FS) and Block-Matching Algorithm(BMA) is often used in the case of moving object tracking by vision sensors. However these methods often miss the real-time vision data because these schemes suffer the heavy computational load. When the image size of moving object is changed in an image frame according to the distance between the camera of mobile robot and the moving object, the tracking performance of a moving object may decline with these methods because of the shortage of active handling. In this paper, the variable-representative block that can reduce a lot of data computations, is defined and optimized by changing the size of representative block accor...

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.121.1-121
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• 2002

Calculation unit and peripheral units that are used to make the position controller are embedded to one chip FPGA. $\textbullet$ Feed-forward PID controller and interpolator in the calculation unit mitigate frequent context switching. $\textbullet$ The peripheral units reduce the size of the joints position control board. $\textbullet$ Because the calculation unit is designed with pipeline structure, it has the advantages to apply to the multi joints.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.85.2-85
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• 2002

If a biped humanoid robot walks stably on even and uneven planes like a human being, it should have a control system capable of compensating for moments generated by motions of its lower-limbs, upper-limbs and head. In this paper, a compensatory motion control method is described for the stability of biped humanoid robots. This control method calculates the combined motion of the trunk and the waist that cancels the generated moments by using an iteration algorithm. During the biped walking, the combined motion is employed only for stability while the motion of the lower-limbs is used only for locomotion. This method is useful for not only a steady walking but also a transient walking. The e...

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.54.2-54
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• 2002

Robots are widely used for welding automation in the shipbuilding industry. Because of the distinguishing mark of the shipbuilding, many robots conduct each other welding jobs at a point of time. The manager/operator stay in a place apart from working site for safety reason, but need to observe the progress of work and the status of robots. On this account, the monitoring system for welding robots has become essential. We developed a monitoring system by which, many people can monitor robot's status simultaneously at separated locations through the web. The monitoring system consists of Server and Client, where the server keep connection to robots and deliver client's request to robots and cli...

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.77.6-77
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• 2002

This paper describes a motored wheelchair that is suitable for disabled persons. A distinguish feature of our wheelchair is that a closed link mechanism is introduced. This link module changes conventional motored wheelchairs to computer controlled ones. It means that using intelligent functions of the computer, conventional motored wheelchairs can be navigated like an intelligent robot. Three examples of intelligent navigation functions are demonstrated. The first one is a motored wheelchair controlled by the head movement of the operator. The second one is a motored wheelchair with the image processing. Last one is a motored wheelchair with the remote sensing function.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.97.4-97
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• 2002

1. Introduction Pose estimation of a three dimensional object has been studied in robot vision area, and it is needed in a number of industrial applications such as process monitoring and control, assembly and PCB inspection. In this research, we propose a new pose estimation method based on principal axes analysis. Here, it is assumed that the locations of x-ray source and the image plane are predetermined and the object geometry is known. To this end, we define a dispersion matrix of an object, which is a discrete form of inertia matrix of the object. It can be determined here from a set of x-ray images, at least three images are required. Then, the pose information is obtained fro...