• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1991.04a
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• pp.169-173
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• 1991

최근 자동화기술의 발달에 따라 산업용 로보트팔의 경량화, 고속화를 실행하 게 되는 경우와 우주, 원자력발전소 등과 같은 특수한 환경하에서 매니퓰레 이터(manipulator)를 제어하게 되는 경우가 많아지고 있는데, 이때 팔의 강성 이 충분하지 않으면 위치결정시 목표점에서의 과도진동이 발생하게 되어 위 치결정정도와 작업효율이 저하된다. 그러므로 이러한 경량화된 장비들의 진 동특성을 파악하고 운동시 발생하는 진동을 효율적으로 제어할 수 있는 제 어기(controller)를 설계하여 잔류진동을 감쇠시키므로써 위치결정시간을 줄 일 수 있고, 전체 작업행정시간이 단축되므로써 작업ㅎ류을 향상시키는 효과 를 가져오게 된다. 이때 원하고자 하는 제어를 하기 위해서는 제어대상 (plant)의 계규명(system identification)을 정확히 하여야 하는데 해석적으로 계를 규명하기가 까다로운 경우 제어기를 설계하는 것이 사실상 어렵게 되 므로 이러한 경우 실험적인 방법으로 주파수응답함수(frequency response function)를 구해 계의 모형(model)을 구하는 방법이 널리 사용되고 있다. 이 분야에 있어서 기존의 논문들은 팔의 변위를 측정하여 진동을 제어하나 이 러한 방법들은 간헐적으로 움직이는 산업장비(예:로보트의 팔)의 과도응답을 제어하기에는 부적합하다. 따라서 본 연구에서는 이러한 장비들의 과도응답 을 효과적으로 제어할 수 있도록 가속도계를 사용, 가속도를 측정하여 변위 를 제어하고자 한다.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.16 no.4
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• pp.73-80
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• 2016

Multiplayer Online Games(MOG) using the Internet are typically organized based on a CS(client-server) or P2P(peer-to-peer) architecture. We then propose a method that combines a P2P architecture with a CS architecture in order to utilize their advantages. Most MOGs use a primary-copy replication approach that provides strong consistency control over an object. For each object and character there exists an authoritative copy, called primary copy and all other copies are secondary copies or replicas. Any update to the object has to be first performed on the primary copy. In the proposed hybrid architecture, primary copies may reside on the server or be held by clients. In this architecture, load balancing between a server and clients can be achieved by reducing the number of objects maintained by the server. Games consist of various types of actions with different consistency requirements. A multi-level approach to game consistency is sensible as it provides the best trade-off between consistency and performance. The performance for the hybrid game architecture with the primary-copy model is evaluated through simulation experiments and analysis in this paper.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.12 no.7
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• pp.1193-1201
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• 2008

In this paper, we propose a automated techniques for generating the gait animation of humanoid character model required in game applications. The proposed method can generate motion data of various styles with intuitive manipulation, and techniques for editing motion data are also proposed. In addition, we introduce an automated tool for gait animation of character model developed with the proposed method to verify the effectiveness of our method. The proposed method tan be successfully employed in motion authoring tools. In this paper, only the gait animation was considered. However, the proposed method can be applied to various motions and can be utilized as a motion engine that automatically generates proper motion according to the state of the character. The motion engine can express various behavior of the character without requiring motion data base which is usually employed in 3D online games.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.22 no.3
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• pp.275-283
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• 2012

This paper presents a design method of a robust tracking controller satisfying multiple constraints using genetic algorithm. A robust $H_{\infty}$ constraint with loop shaping is used to address disturbance attenuation with error limits and a loop gain constraint is considered so as not to enlarge the tracking loop gain and bandwidth unnecessarily. The robust $H_{\infty}$ constraint is expressed by a matrix inequality and the loop gain constraint is considered as an objective function so that genetic algorithm can be applied. Finally, a robust tracking controller can be obtained by integrating genetic algorithm with LMI approach. The proposed tracking controller design method is applied to the track-following system of an optical DVD recording drive and is evaluated through the experimental results.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.7
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• pp.53-64
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• 2001

The gain-scheduling control technique is vary useful in the control problem incorporating time varying parameters which can be measured in real time. Based on these facts, in this paper the sway control problem of the pendulum motion of a container hanging on the trolly, which transports containers from a container ship to trucks, is considered. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, the trolley motion control strategy is introduced and applied. But, in this paper, we introduce and synthesize a new type of swing motion control system. In this control system, a small auxiliary mass is installed on the spreader. And the actuator reacts against the auxiliary mass, applying inertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we assume that an plant parameter is varying and apply the gain-scheduling control technique design the anti-swing motion control system for the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the simulation result shows that the proposed control strategy is shown to be useful to the case of time-varying system and, robust to disturbances like winds and initial sway motion.

• Journal of Power System Engineering
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• v.14 no.2
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• pp.34-39
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• 2010

Recently, technical trend for machine tools is focused on enhancement of speed and accuracy. High speedy processing causes thermal and structural deformation of objects from the machine tools. Water cooler has to be applied to machine tools to reduce the thermal negative influence with accurate temperature controlling system. Existing On-Off control type can't control temperature accurately because compressor is operated and stopped repeatedly and causes increment of power consumption and decrement of the expected life of compressor. The goal of this study is to minimize temperature error in steady state. In addition, control period of an electronic expansion valve were considered to increment of lifetime of the machine tools and quality of product with a water cooler. PI controller is designed using type of hot-gas bypass for precise control of temperature. Gain of PI is decided easily by method of critical oscillation response, excellent performance of control is shown with 4.24% overshoot and ${\pm}0.2^{\circ}C$error of steady state. Also, error range of temperature is controlled within $0.2^{\circ}C$although disturbance occurs.

• Proceedings of the Korea Contents Association Conference
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• 2005.11a
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• pp.523-528
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• 2005

In this paper, we designed and made a bicycle with tangible interface using a game to make a tangible interface for health-care system. In particular, through a survey of the preference of users, we have showed a tangible machine which is possible to recognize users' control as a form of tangible interface, have presented the controllable method of a game contents, have provided the contents reality maximized using game AI and game physics.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.34 no.7
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• pp.45-54
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• 2006

General unmaned airship, in use of aviation photography, needs both airship -controller and camera-controller who work together in harmony. In oder to reduce this manpower and get the good Geographical Information Systems(GIS) data, it is necessary to use a autopilot controller which guides a exact path lines. This paper presents the autopilot control law base on classical PID control. Moreover, this paper shows the result of flight test, the procedure of gain tuning and LOS guidance algorism that is reduce a tracking error.

• Journal of Korea Game Society
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• v.16 no.3
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• pp.109-116
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• 2016

Distance learning systems that teacher and learner(s) are located at remote have been in progress in a way that directly transfer the video and audio. To get the interest of learners and effectiveness of education or to overcome the poor network environment, various methods utilizing computer graphics in the distance learning system have been attempted. This paper describes a design and implementation of a distance learning system using 3D animation control technology based on Kinect and network game technology. Distance learning system designed and implemented in this paper is a good example of combining education and game technology. And I expect to be used at various educational contents in the future.

• Journal of Broadcast Engineering
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• v.6 no.2
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• pp.148-159
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• 2001

This paper presents a selective duality control system to control relative picture quality among the video programs in terms of Peak Signal-to-Noise Ratio (PSNR) . The selective quality control system allows variable bit rate (VBR) for each video program to maintain the pre-determitted relative picture Quality among aggregated video programs while keeping a constant bit rate for alt programs to be transmitted over a single constant bit rate (CBR) channel. Thus is achieved by simultaneous controlling the video encoders to generate VBR video streams at the central controller. furthermore, we also suggest a buffer regulation method based on the analysis of the constraints Imposed by sender/receiver buffer sizes and the total transmission rate. Through various simulation results, it is found that the proposed quality control system guarantees that the video buffers neither overflow nor underflow and the quality control errors do not exceed 0.1 dB.