• IEMEK Journal of Embedded Systems and Applications
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• v.9 no.2
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• pp.101-107
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• 2014

Mobile robots use an environment map of its workspace to complete the surveillance task. However grid-based maps that are commonly used map format for mobile robot navigation use a large size of memory for accurate representation of environment. In this reason, grid-based maps are not suitable for path planning of mobile robots using embedded board. In this paper, we present the path planning algorithm that produce a secure path rapidly. The proposed approach utilizes a hybrid map that uses less memory than grid map and has same efficiency of a topological map. Experimental results show that the fast path planning uses only 1.5% of the time that a grid map based path planning requires. And the results show a secure path for mobile robot.

• Journal of Industrial Technology
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• v.19
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• pp.173-178
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• 1999

In many areas of technology there are machines and systems controllable in up to six degrees of freedom. Helicopters and underwater vehicles, industrial robots are among the first representatives of this category. They need six degrees of freedom in order to move and orient within their workspace. An even broader and more explosively growing area is 3D computer graphics and virtual environment. In this work, functions of 3D input device are described and two types of commercial 3D input device are presented. Then, a preliminary experiment of a low cost 6 axis force/moment sensor is presented that can also be sued as a 3D input device. A low cost force/moment sensor and its application in robot teaching experiment is described. It computes the direction of 3 components of the force and 3 components of the moment applied by human holding the sensor by hand. The concept is shown by an experiment where the tool position and orientation of a robot in 3 dimensional space is controlled by the proposed sensor.

• Proceedings of the KIEE Conference
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• 1997.11a
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• pp.576-580
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• 1997

This paper presents a path planning algorithm for biped walking robot in 3-D workspace. Since the biped walking robot can generate path on some 3-D obstacles that cannot generate path in case of mobile robot, we have to make a new path planning algorithms. A 3-D-to-2-D mapping algorithm is proposed and two kinds of path planning algorithms are also proposed. They make it easier to generate an efficient path for biped walking robot under given environment. Some simulation results are shown to prove the effectiveness of proposed algorithms.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1797-1798
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• 2008

환자의 환부를 최소한으로 절개하여 시술하는 최소 침습 수술 수술은 많은 장점을 가지고 있어 그 활용도가 점차 확대되고 있다. 하지만 조작하는 조직으로부터 눈과 손이 분리되어 있기 때문에 많은 문제점들이 발생한다. 그 중 하나는 수술 영역과 시각 영역이 분리되어 발생하는데, 최적의 위치조정을 위한 자동 복강경 수술 로봇 팔 시스템 도입으로 이러한 문제를 해결하고 있다. 본 연구에서는 복강경 수술 로봇 팔을 설계하는데 있어 동작 범위를 빠르게 시각화하여 설계 단계에서 다양한 파리미터를 적용하여 보다 효율적인 복강경 수술 로봇 팔의 설계 방법을 제시한다. 제안된 물리 엔진을 이용한 동작 범위 분석 방법은 역기구학을 계산할 필요가 없으며, 설계가 바뀌어도 추가로 산출해야 하는 수식 없이 바로 수정된 기구학만으로 동작 범위 분석이 가능하다.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.539-543
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• 1999

This paper describes a sweeping path planning algorithm for an autonomous smearing robot on commercial autoCAD system. An automatic planner generates a sweeping path pattern by proposed five basic procedures, (1) interfacing architectural CAD system, (2) off-line obstacle map building, (3) scanning the whole workspace for subgoals of sweeping line, (4) tracking sequence of the subgoals, and (5) obstacle avoiding. A sweeping path is planned by sequentially connecting the tracking points in such a way that (1) the connected line segments should be crossed, (2) the total tracking points should be as short as possible, (3) the tracking line should not pass through the obstacle. Feasibility of the developed techniques has been demonstrated on real architectural CAD draft.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2003.10a
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• pp.589-593
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• 2003

In this paper, we propose that the chaotic behavior analysis in the mobile robot of embedding Chua's equation with obstacle. In order to analysis of chaotic behavior in the mobile robot, we apply not only qualitative analysis such as time-series, embedding phase plane, but also quantitative analysis such as Lyapunov exponent in the mobile robot with obstacle. In the obstacle, we only assume that all obstacles in the chaos trajectory surface in which robot workspace has an unstable limit cycle with Van der Pol equation.

• Proceedings of the Korean Information Science Society Conference
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• 2000.10a
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• pp.403-405
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• 2000

인터넷을 기반으로 한 디지털 정보의 생성과 운영의 중요성이 더욱 강조되어 가고 있는 현재, 네트워크 상에서 효과적인 인터넷 서비스로 기업의 모든 운영과 관리가 인트라넷 및 인터넷 환경에서의 프로세싱으로 전개되어 빠르고 정확한 정보와 서비스를 지원한다. 컴포넌트기반의 시스템은 분산 컴포넌트(Distributed Component : DC)로 이루어져 있으며, 이는 네트워크 접근 가능한 인터페이스를 제공하는 가장 작은 단위의 컴포넌트로, 사용자(User), 워크스페이스(Workspace), 엔터프라이즈(Enterprise), 그리고 리소스(Resource) 계층으로 나뉘어 진다. 분산 컴포넌트 명세 개발 프로세서를 통한 4계층으로의 분석으로 비즈니스 컴포넌트(Business Component : BC)를 구축하고 재사용 가능하며 비용 절감 및 새로운 비즈니스 컴포넌트들로의 접근을 용이하게 할 뿐만 아니라 인터넷 기반의 비즈니스 서비스를 폭넓게 확장시킬수 있도록 한다.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.10 no.3
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• pp.203-209
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• 2010

This paper presents a hierarchical fuzzy motion planner for humanoid robots in 3D uneven environments. First, we define both motion primitives and locomotion primitives of humanoid robots. A high-level planner finds a global path from a global navigation map that is generated based on a combination of 2.5 dimensional maps of the workspace. We use a passage map, an obstacle map and a gradient map of obstacles to distinguish obstacles. A mid-level planner creates subgoals that help the robot efficiently cope with various obstacles using only a small set of locomotion primitives that are useful for stable navigation of the robot. We use a local obstacle map to find the subgoals along the global path. A low-level planner searches for an optimal sequence of locomotion primitives between subgoals by using fuzzy motion planning. We verify our approach on a virtual humanoid robot in a simulated environment. Simulation results show a reduction in planning time and the feasibility of the proposed method.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.10
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• pp.962-967
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• 2006

Indoor positioning is highlighted recently, and various kinds of indoor positioning systems are under developments. Since positioning systems have their own characteristics, proper positioning scheme should be chosen according to the required specifications. Positioning methods are classified into time-based and angle-based one. This paper presents the error analysis of time-based and angle-based location methods. Because measurements of these methods are nonlinear, linearizations are needed in both cases to estimate the user position. In the linearization, Gauss-Newton method is used in both cases. To analyze the position error, we investigate the error ellipse parameters that include eccentricity, rotation angle, and the size of ellipse. Simulation results show that the major axes of TOA and AOA method lie in different quadrants at most region of workspace, especially where the geometry is poor. When the TOA/AOA hybrid is employed, it is found that the error ellipse is reduced to the intersection of ellipses of TOA and AOA.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.463-463
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• 2000

A dual-stage positioner for fast and fine robotic manipulations is presented. By adopting the merits of both coarse and fine actuator, a desirable system having the capacity of large workspace with high resolution of motion is enabled. We have constructed an ultra precision XY positioner with dual-stage mechanism where the PZT driven fine stage is mounted on the motor driven XY positioner and applied it to fine tracking controls and micro-tele operations as a slave manipulator. We describe essential merits of the compound actuation mechanism and some control strategies to successfully utilize it with proper servo system design. Through experimental results, the effectiveness of the coarse/fine manipulation by the dual-stage positioner will be shown.