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A Design of Incremental Granular Network for Software Data Modeling

Journal of Software engineering and Applications 2010年第11期3卷 1027-1031页

作者： Keun-Chang Kwak Department of Control Instrumentation and Robot Engineering Chosun University

In this paper, we propose an incremental method of Granular Networks (GN) to construct conceptual and computational platform of Granular Computing (GrC). The essence of this network is to describe the associations between information granules including fuzzy sets formed both in the input and output spaces. The context within which such relationships are being formed is established by the system developer. Here information granules are built using Context-driven Fuzzy Clustering (CFC). This clustering develops clusters by preserving the homogeneity of the clustered patterns associated with the input and output space. The experimental results on well-known software module of Medical Imaging System (MIS) revealed that the incremental granular network showed a good performance in comparison to other previous literature.

关键词： Incremental Granular Network Granular Computing Information Granules Context-Based Fuzzy Clustering

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Task-oriented synchronous error monitoring framework in robotic manufacturing process

Task-oriented synchronous error monitoring framework in robo...

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2012 IEEE International Conference on Automation Science and engineering: Green Automation Toward a Sustainable Society, CASE 2012

作者： Kim, Hyungsik Cheong, Joono Lee, Seungik Kim, Joongbae Department of Control and Instrumentation Engineering Korea University Jochiwon Korea Republic of Intelligent Robot Control Research Team Electronics and Telecommunications Research Institute Daejeon Korea Republic of

ISBN: (纸本)9781467304283

As manufacturing systems become increasingly more automated and complicated, there is a need for supervision systems to operate and control production. In complex manufacturing environments, robots can make errors that can cause serious product damages. This paper focuses on the efficient supervision systems, called the sequential task-oriented supervision, using multiple sensors for achieving task status monitoring, automated error analysis in robotic manufacturing process. As with the designed task sequence, a status monitoring system runs synchronously to detect errors in the current robot task. In order to continue performing tasks without human intervention, task status monitoring systems use multiple sensors including a vision sensor, a force-torque(F/T) sensor and a tactile sensor is developed. Detailed structure and working principle of the monitoring system are addressed in this paper. © 2012 IEEE.

关键词： Manufacture

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A Parallel Processing Uninterruptible Power Supply for Sudden Voltage Fluctuation for Power Management

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engineering（科研） 2013年第1期5卷 13-19页

作者： Sung-Hun Ko Seong-Ryong Lee Department of Control & Robot Engineering Kunsan National University Kunsan Korea

This paper deals with a parallel processing uninterruptible power supply (UPS) for sudden voltage fluctuation in power management to integrate power quality improvement, load voltage stabilization and UPS. To reduce the complexity, cost and number of power conversions, which results in higher efficiency, only one voltage-controlled voltage source inverter (VCVSI) is used. The VCVSI is connected in series on the DC battery side and in parallel on the AC grid side with a decoupling inductor. The system provides sinusoidal voltage at the fundamental value of 220V/60Hz for the load during abnormal utility power conditions or grid failure. Also, the system can be operated to mitigate the harmonic current and voltage demand from nonlinear loads and provide voltage stabilization for loads when sudden voltage fluctuation occur, such as sag and swell. The experimental results confirm the system protects against outages caused by abnormal utility power conditions and sudden voltage fluctuations and change.

关键词： Parallel processing UPS Decoupling inductor Power angle VCVSI

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Inspection of the internal cracks on a pipe using a cylinder-type magnetic camera

Inspection of the internal cracks on a pipe using a cylinder...

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作者： Kim, Jungmin Lee, Jinyi Department of Control and Instrumentation Engineering Graduate School of Chosun University Gwangju 501-759 Korea Republic of Department of Control Instrumentation and Robot Engineering Chosun University 375 Seosuk-dong Dong-gu Gwangju 501-759 Korea Republic of

Two important factors in damage tolerance engineering are the damage size that can be tolerated and the use of applied nondestructive testing (NDT) technique for detection of defects. Generally, NDT of large mechanical structures, such as vessels and pipes in nuclear power plants, is carried out according to national codes, and the damaged mechanical parts detected during periodic NDT are repaired or replaced after the evaluation. However, unexpected accidents can occur if cracks in the structure grow and exceed the tolerance limit during operation. Therefore, there is a need to develop NDT techniques that can detect micro-damage in the vessels and pipes. In this paper, we propose a cylinder-type magnetic camera to fill this need. We use a cylindrically integrated Hall sensor array (CIHaS) as a magnetic sensor to create magnetic images, and we use a solenoid coil as the source of the magnetic field detected by the magnetic camera in order to achieve high crack-detection ability. The proposed method is tested with an examination of the cracks on a prepared pipe sample. © (2010)Trans Tech Publications, Switzerland.

关键词： Nondestructive examination

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Guest Editorial:Autonomous systems:Navigation,learning,and control

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IET Cyber-Systems and robotics 2021年第4期3卷 279-280页

作者： Yu Zhang Fei Gao Yuxiang Sun Naira Hovakimyan Zheng Fang College of Control Science and Engineering Zhejiang UniversityHangzhouChina Department of Mechanical Engineering The Hong Kong Polytechnic UniversityHong Kong Department of Mechanical Science and Engineering University of Illinois at Urbana‐ChampaignChampaignIllinoisUSA Faculty of Robot Science and Engineering Northeastern UniversityShenyangChina

This is the IET Cyber-systems and robotics special issue of Autonomous systems:Navigation,learning,and *** systems,as very important representatives of Artificial Intelligence technologies,combine mechanical and electronic hardware,operating system,low-level dynamic control,and high-level intelligent decision components to address challenges that demand high-level autonomy and ma-chine intelligence.

关键词： hardware learning Intelligence

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4-axis robot design and simulation based on SimulationX

4-axis robot design and simulation based on SimulationX

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1st International Conference on robot, Vision and Signal Processing, RVSP 2011

作者： Bi, Luyan Liu, Lisheng Control Science and Engineering Department Shenzhen Graduate School of Harbin Industry University Shenzhen China Robot Lab. Cooperate Engineering Johnson Electric Company Shenzhen China

ISBN: (纸本)9780769545813

This paper presents a 4-axis robot system model which is analyzed from kinematic aspect and simulated by SimulationX. Firstly, the robot kinematics model is established and robot workspace is obtained based on the robot kinematics analysis by means of Denavit-Hartenberg method. Furthermore, robot system model is founded in software SimulationX as well as mechanical and control systems are analyzed through simulation. Based on simulation result of SimulationX which includes every property of components in the model of SimulationX, the performance and feasibility of the 4-axis robot model can be clearly evaluated and verified. © 2011 IEEE.

关键词： Kinematics

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A flexure guided stage with piezo electric transducers for laser micro/nano machining 10

A flexure guided stage with piezo electric transducers for l...

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10th Anniversary International Conference of the European Society for Precision engineering and Nanotechnology, EUSPEN 2008

作者： Kim, Jin-Yong Hwang, Donghyun Lee, Kwang-Il Kim, Sang-In Kim, Ho-Sang Lee, Kyoung-Don Jeong, Jaewha Lee, Moon G. Division of Mechanical Engineering Ajou University Korea Republic of Center for Robot Tech. and Manufacturing Institute of Advanced Engineering Korea Republic of Department of Control and Instrumentation Engineering Korea University Korea Republic of

ISBN: (纸本)9780955308253

Laser machining technology has potential to be applied to FPD (flat panel display) industry. The equipments are required to repair the electronics or inspect the pattern with using the laser. In order to repair micro and nano pattern for FPD, the equipments should be able to carry large sized work-piece with high speed and accuracy. We proposed a fine XY-stage mechanism which is compact and fast. The stage actuated by PZT (Piezo Electric Transducer). The PZT motion is amplified by flexure lever mechanisms. The stage and actuator mechanism is designed so that satisfies the requirements: The stage moves over 10 um u 10 um in XY-range with bandwidth over 80 Hz. The positioning accuracy should be about 100 nm.

关键词： Flat panel displays

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Frenet Frame Based Local Motion Planning in Racing Environment 23

Frenet Frame Based Local Motion Planning in Racing Environme...

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23rd International Conference on control, Automation and Systems, ICCAS 2023

作者： Kim, Min Seong Lee, Jeon Hyeok Kim, Taek Lim Park, Tae-Hyoung Chungbuk National University Department of Control and Robot Engineering Cheongju28644 Korea Republic of Chungbuk National University Department of Intelligent Systems and Robotics Cheongju28644 Korea Republic of

ISBN: (纸本)9788993215274

Local Trajectory Planning plays a pivotal role in reducing lap times during a race. It must take into account not only obstacles but also the hardware limitations of the vehicle and the performance of the controller. Moreover, in a high-speed racing competition like F1, surrounding vehicles exhibit highly dynamic movements, necessitating motion prediction for safety. However, existing studies have demonstrated good performance in environments with static objects or when avoiding racing vehicles in straight-line sections, but accidents occur in environments with large numbers of vehicles and high curvature. To address these issues, this paper proposes an algorithm that ensures stability even in complex environments by considering the uncertainty of motion prediction for multiple vehicles. By considering the uncertainty of vehicle motion, we design the cost and generate an optimized path based on sampling. The CarMaker simulator is utilized to verify the proposed algorithm. © 2023 ICROS.

关键词： Motion planning

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Sound Source Tracking of Moving Speaker Using Multi-channel Microphones in robot Environments

Sound Source Tracking of Moving Speaker Using Multi-channel ...

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IEEE International Conference on robotics and Biomimetics

作者： Keun-Chang Kwak Control Instrumentation and Robot Engineering Department Chosun University

ISBN: (纸本)9781457721366

This paper is concerned with multiple microphone-based sound source tracking of moving speaker in home robot environments. For this purpose, we use the Excitation Source Information (ESI) based on linear predication residuals and Hilbert transform to determine the time-delay between each two microphones from speech signals obtained through three microphones and sound board. Thus, it can be used as a core technique in conjunction with human-robot interaction that can naturally interact between human and robots in home robot applications. The experimental results on tracking of moving sound reveal that the presented method shows good tracking performance in various speech periods.

关键词： Microphone Device Component acoustic radiators robot Home robot Loudspeakers Human machine interaction tracking visual tracking Moving Hilbert

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Multimodal user identification for network-based intelligent robots

Multimodal user identification for network-based intelligent...

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作者： Kwak, Keun-Chang Department of Control Instrumentation and Robot Engineering Chosun University 375 Seosuk-dong Dong-gu 501-759 Gwangju Korea Republic of

ISBN: (纸本)9789898425751

This paper is concerned with multimodal user identification based face and speaker recognition for Human-robot Interaction (HRI) under network-based intelligent robot environments. Face and speaker recognition are frequently used in conjunction with HRI that can naturally interact between human and robot. For this purpose, we present Tensor-based Multilinear Principal Component Analysis (TMPCA) and Mel-Frequency Cepstral Coefficients-Gaussian Mixture Model (MFCC-GMM) to recognize with face images and speech signals obtained through network transmission, respectively. Furthermore, we investigate network-based multimodal user identification for the near future study. The experimental results on face and speaker database with distant-varying reveal that the presented method shows good performance in network-based intelligent robot environments.

关键词： Intelligent robots

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