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심병균,Nguyen Huu Cong,김준홍,조창제,한성현 한국공작기계학회 2009 한국공작기계학회 춘계학술대회논문집 Vol.2009 No.-
This paper achieves a research about avoidance of obstacles avoidance based on ultrasonic sensor. The performance of the proposed obstacle avoidance robot controller in order to determine the exact dynamic systems modeling system that uncertainty is difficult for nomadic controlled robot direction angle by ultrasonic sensors throughout controlled performance tests. In additionally, this study is an in different ways than the self-driving simulator in the development of ultrasonic sensors and unmanned remote control techniques used by the self-driving robot controlled driving through an unmanned remote controlled unmanned realize the performance of factory automation.
심병균,이우송,Nguyen Van Quyet,Nguyen Huu Cong,한성현 한국공작기계학회 2008 한국공작기계학회 춘계학술대회논문집 Vol.2008 No.-
The purpose of this research is to develop the robot vision technology based on pattern recognition for non-contacting inspection optical lens slant or precision parts, and including external form state of lens or electronic parts for the performance verification, this development can achieve badness finding. And, establish to existing reflex data because inputting surface badness degree of scratch's standard specification condition directly, and error designed to distinguish from product more than schedule error to badness product by normalcy product within schedule extent after calculate the error comparing actuality measurement reflex data and standard reflex data mutually. Developed system to smallest 1 pixel unit though measuring is possible 1 pixel as 37㎛×37㎛ (0.1369×0-4mm²) the accuracy to 1.5×10^(-4)mm minutely measuring is possible performance verification and trust ability through an experiment prove.
김준홍,심병균,오세봉,Nguyen Huu Cong,한성현 한국공작기계학회 2008 한국공작기계학회 춘계학술대회논문집 Vol.2008 No.-
In this paper, it is presented a new approach to the design of intelligent control system of a autonomous robot with two drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy neural network, and back propagation algorithm to train the fuzzy neural network controller in the framework of the specialized learning architecture, It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels
오세봉,심병균,Nguyen Van Quyet,한성현,박동준 한국공작기계학회 2008 한국공작기계학회 추계학술대회논문집 Vol.2008 No.-
This paper achieves a research about remote control of robot based on voice recognition. Through real-time remote control and wireless network capabilities of an unmanned remote-control experiments and Home Security / exercise with an unmanned robot, remote control and voice recognition and voice transmission are possible to transmit on a PC using a microphone to control a robot to pinpoint of the source. Speech recognition can be controlled robot by using a remote control. In this research, speech recognition speed and direction of self-driving robot were controlled by a wireless remote control in order to verify the performance of mobile robot controller.
A Motion Control of Mobile Robot Based on Voice Command
Byoung-Kyun Shim,Woo-Song Lee,Jong-Baem Won,Sung-Hyun Han 한국생산제조학회 2010 한국공작기계학회 추계학술대회논문집 Vol.2010 No.-
In general, it is possible to estimate the noise by using information on the robot’s own motions and postures, because a type of motion and gesture produces almost the same pattern of noise every time. In this paper, we describe an voice recognition control system for robot(VRCS) system which can robustly recognize voice by adults and children in noisy environments. We evaluate the VRCS system in a communication robot placed in a real noisy environment. Voice is captured using a wireless microphone. To suppress interference and noise and to attenuate reverberation, we implemented a multi-channel system consisting of an outlier-robust generalized side-lobe canceller technique and a feature-space noise suppression using MMSE criteria. Voice activity periods are detected using GMM-based end-point detection.
An Intelligent Control of Mobile Robot Based on Voice Command
Byoung-Kyun Shim,Kwang-wook Kang,Woo-Song Lee,Jong-Baem Won,Sung-Hyun Han 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
In general, it is possible to estimate the noise by using information on the robot’s own motions and postures, because a type of motion and gesture produces almost the same pattern of noise every time. In this paper, we describe an voice recognition control system for robot(VRCS) system which can robustly recognize voice by adults and children in noisy environments. We evaluate the VRCS system in a communication robot placed in a real noisy environment. Voice is captured using a wireless microphone. To suppress interference and noise and to attenuate reverberation, we implemented a multi-channel system consisting of an outlier-robust generalized side-lobe canceller technique and a feature-space noise suppression using MMSE criteria. Voice activity periods are detected using GMM-based end-point detection
A Robust Control of Robot Arm Based on Neural Network Compensation
Byoung Kyun Shim,Tae-Hee An,Huu-Cong Nguyen,Hang-Bong Shin,Sung-Hyun Han 한국생산제조학회 2010 한국공작기계학회 추계학술대회논문집 Vol.2010 No.-
In this paper, we present two kinds of robust control schemes for robot system which has the parametric uncertainties. In order to compensate these uncertainties, we use the neural network control system that has the capability to approximate any nonlinear function over the compact input space. In the proposed control schemes, we need not derive the linear formulation of robot dynamic equation and tune the parameters. We also suggest the robust adaptive control laws in all proposed schemes for decreasing the effect of approximation error. To reduce the number of neural of network, we consider the properties of robot dynamics and the decomposition of the uncertainty function. The proposed controllers are robust not only to the structured uncertainty such as payload parameter, but also to the unstructured one such as friction model and disturbance. The reliability of the control scheme is shown by computer simulations and experiment of robot manipulator with 8 axis.
An Intelligent control of Mobile Robot Based on Fuzzy Perception
Byoung-Kyun Shim,Jin-Hwan Sok,In-Man Park,Sung-Hyun Han 한국생산제조학회 2010 한국공작기계학회 추계학술대회논문집 Vol.2010 No.-
This paper present the theoretical development of a complete navigation problem of a non-holonomic mobile robot by using sonar sensors. To solve this problem, a new method to compute a fuzzy perception of the environment is presented, dealing with the uncertainties and imprecision from the sensory system and taking into account nonholonomic constraints of the robot. Fuzzy perception, fuzzy controller are applied, both in the design of each reactive behavior and solving the problem of behavior combination, to implement a fuzzy behavior-based control architecture. Different experiments in populated environments have proved to be very successful. Our method is able to guide the KUM-Robo safety and efficiently during long experimental time.