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임오득,김희진,강다비,김민찬,한성현 한국산업융합학회 2022 한국산업융합학회 논문집 Vol.25 No.4
This study proposed a new approach to intelligent control of a mobile robot system by back properpagation based on multi-layer neural network. A experiment result is given in which some artificial assumptions about the linear and the angluar velocities of mobile robots from recent literature are dropped. In this study, we proposed a new thinique to impliment the real time conrol of he position and velocity of mobile robots. With the proposed control techinique, mobile robots can now globally follow any path such as a straight line, a circle and the path approaching th toe origin using proposed controller. Computer simulations are presented, which confirm the effectiveness of the proposed control algorithm. Moreover, practical experimental results concerning the real time control are reported with several real line constraints for mobile robots with two wheel driving.
심현석(H.S. Sim),김민성(M.S. Kim),최민혁(M.H. Choi),배호영(H.Y. Bae),김희진(H.J. Kim),김두범(D.B. Kim),한성현(S.H. Han) 한국산업융합학회 2018 한국산업융합학회 논문집 Vol.21 No.2
This Study Propose A New Approach To Impliment A Intelligent Robot Control Based on Voice Recognition For Smart Factory Automation Since human usually communicate each other by voices, it is very convenient if voice is used to command humanoid robots or the other type robot system. A lot of researches has been performed about voice recognition systems for this purpose. Hidden Markov Model is a robust statistical methodology for efficient voice recognition in noise environments. It has being tested in a wide range of applications. A prediction approach traditionally applied for the text compression and coding, Prediction by Partial Matching which is a finite-context statistical modeling technique and can predict the next characters based on the context, has shown a great potential in developing novel solutions to several language modeling problems in speech recognition. It was illustrated the reliability of voice recognition by experiments for humanoid robot with 26 joints as the purpose of application to the manufacturing process.