作者：
KIM, JHCHO, HSCenter for Robotics and Automation
Department of Precision Engineering and Mechatronics Korea Advanced Institute of Science and Technology 373-1 Kusong-dong Yusong-gu Taejon 305-701 Korea
In this paper, we describe an approach to inspection of solder joints on printed circuit boards by using a circular illumination technique and a neural network classifier. The illumination technique, consisting of thr...
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In this paper, we describe an approach to inspection of solder joints on printed circuit boards by using a circular illumination technique and a neural network classifier. The illumination technique, consisting of three tiered circular colour lamps and one colour camera, gives good visual cues to infer 3D shape of the solder joint surface. A general aspect of this inspection is that the shape of the solder joint tends to greatly vary according to soldering conditions. Due to this, a neural network classifier based on a supervised version of Kohonen learning vector quantization (LVQ) is proposed to automatically and efficiently make classification criteria of the solder joint shapes according to their quality. The practical feasibility of the proposed approach is demonstrated by building a prototype inspection machine and testing its performance.
This paper proposes a new method of estimating the position and heading angle of a mobile robot moving on a flat surface. The proposed localization method utilizes two passive beacons and a single rotating ultrasonic ...
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This paper proposes a new method of estimating the position and heading angle of a mobile robot moving on a flat surface. The proposed localization method utilizes two passive beacons and a single rotating ultrasonic sensor. The passive beacons consist of two cylinders with different diameters and reflect the ultrasonic pulses coming from the sonar sensor mounted on the mobile robot. The sonar sensor, again, mounted on a pan-tilt device then receives the reflected pulses while scanning over a wide area. The geometric parameter set of beacon is acquired from the sonar scan data obtained at a single mobile robot location using a new data processing algorithm. The presented algorithm is especially suitable for processing the sonar scan data obtained by ultrasonic sensor with wide beam spread. From this parameter set, the position and heading angle of the mobile robot is determined directly. The performance and validity of the proposed method are evaluated using two beacons and a single sonar sensor attached at the pan-tilt device mounted on a mobile robot, named LCAR, in our laboratory.
This article explores a new field, namely, manufacturing through grasping and manipulation within a robotic hand. Based on the study of anthropomorphic manufacturing, a taxonomy of tasks has evolved. The paper illustr...
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The paper proposes a two-stage design approach to optimal H2 and H∞ decentralized control problems. In the first stage, an optimal centralized controller is computed. Then based on the parametrization results for cen...
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ISBN:
(纸本)0780302109
The paper proposes a two-stage design approach to optimal H2 and H∞ decentralized control problems. In the first stage, an optimal centralized controller is computed. Then based on the parametrization results for centralized controllers, in the second stage, the parameter that decentralizes the controller is optimized. The design approach is applied to an observer-based decentralized controller. Optimality conditions are derived.
The paper proposes a two-stage design approach to optimal H 2/ and H ∞ decentralized control problems. In the first stage, an optimal centralized controller is computed. Then based on the parametrization results fo...
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The paper proposes a two-stage design approach to optimal H 2/ and H ∞ decentralized control problems. In the first stage, an optimal centralized controller is computed. Then based on the parametrization results for centralized controllers, in the second stage, the parameter that decentralizes the controller is optimized. The design approach is applied to an observer-based decentralized controller. Optimality conditions are derived.
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