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문전일,기태훈,배규성,김종배 한국로봇학회 2009 로봇학회 논문지 Vol.4 No.1
Radio Frequency Identification (RFID) is an automatic identification method. Information such as identification, logistics history, and specification of products are written and stored into the memory of RFID tags (that is, transponders), and retrieved through RF communication between RFID reader device and RFID tags. RFID systems have been applied to many fields of transportation, industry, logistics, environment, etc in order to improve business efficiency and reduce maintenance cost as well. Recently, some research results are announced in which RFID devices are combined with other sensors for mobile robot localization. In this paper, design of multi-protocol baseband for RFID reader device is proposed, and the baseband modem is implemented into SoC (System On a Chip). The baseband modem SoC for multi-protocol RFID reader is composed of several IP (Intellectual Property) blocks such as multi-protocol blocks, CPU, UART(Universal Asynchronous Receiver and Transmitter), memory, etc. As a result, the SoC implemented with FPGA(Field Programmable Gate Array) is applied to real product. It is shown that the size of RFID Reader module designed with the FPGA becomes smaller, and the SoC chip price for the same function becomes cheap. In addition, operation performance could be the same or better than that of the product with no SoC applied.
Three-dimensional Locomotion Control of Single-legged Robot: Resonance Hopping and Running Direction
문전일,강태훈 제어·로봇·시스템학회 2016 International Journal of Control, Automation, and Vol.14 No.5
This study proposes a locomotion controller for a single-legged robot. The locomotion controller comprisesfive parts: virtual spring, height control, forward velocity control, body attitude control, and angular momentumcontrol. First, we propose an effective method called a virtual spring to generate a springy force using a linearactuator. Two virtual springs are adopted to compute the energy exchange and to compensate the energy loss duringhopping. A simple and intuitive method is proposed to implement resonance oscillation in terms of energy loss. Aheight controller is proposed based on the resonance oscillation using a virtual spring. In addition, a running directioncontroller, which has never been resolved in previous studies, is proposed. This novel controller can removethe unexpected angular momentum about the yaw direction during running. All of the proposed algorithms andmethods are validated through dynamic simulations.
문전일,류영선,안진웅 한국로봇학회 2011 로봇학회 논문지 Vol.6 No.1
This paper deals with researching and designing the fastening parts to be used in order to assemble various Teaching Aids Robots (or Hands-on Robots) with originally incompatible parts supplied by different manufacturers. The suggested fastening parts provide the compatibility among Teaching Aids Robots even though the educational robot customers use incompatible parts from different companies. The designed fastening parts are classified into four set groups such as frame set, sliding-bar set, connector set, and set of chuck and rivet/bolt. Each set of the fastening parts reflects the needs collected from the users, and then some portion of new idea has been added to implement the needs. In this paper, the examples of the Teaching Aids Robots which are assembled with both commercial parts and the designed parts are presented in order to evaluate the compatibility and usability of the suggested fastening parts. As a result, both compatibility and usability of the fastening parts suggested in this paper were proved. The designed fastening parts have been distributed to more than 100 elementary schools nationwide.