• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2010.05a
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• pp.725-727
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• 2010

For simulation of Boat motion, pitch, motion element of roll and yaw direction could simulated. The combination of the marine use various multi sensor surveillance system technology with the development of servo motion control algorithm and gyro sensor in six freedom motion is implemented to analyze the movement response. The stabilization of the motion control is developed and Nano driving Precision Pan-Tilt/Gimbal system is obtained from the security positioning cameras with ultra high speed device is used to carry out the exact behavior of the device.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2006.11a
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• pp.327-331
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• 2006

본 논문은 엔터테인먼트 4족 보행로봇에 관한 것으로 24개의 자유도와 비접촉온도 3축 모션, 터치, 음성인식, CCD 카메라와 IR 센서를 내포하고 있다. 4족 보행로봇을 비평탄지형에서 안정되게 보행시키기 위한 알고리즘과 원격지에서 로봇을 제어하기 위한 알고리즘을 제안한다. 제안한 보행안정화 알고리즘은 다양한 센서들을 이용하여 불확실한 환경 하에서 안정된 보행이 되도록 하였으며, PC 상의 GUI와 음성인식 시스템을 이용하여 로봇을 무선으로 원격제어하게 하였다. 개발한 4족 보행로봇의 실험을 통하여 제안한 알고리즘을 검증하였다.

• Journal of Navigation and Port Research
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• v.35 no.3
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• pp.227-233
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• 2011

This paper presents the tracking and stabilization problem of a night vision system for marine surveillance. Both a hardware system and software modules are developed to control azimuth and elevation axes independently with compensation for ship motion. A two degree of freedom(2DOF) PID controller is designed and its parameters are tuned using a real-coded genetic algorithm(RCGA). Simulation demonstrates the effectiveness of the proposed method.

• Proceedings of the KIEE Conference
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• 2008.10b
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• pp.337-338
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• 2008

2008년 현재 우리나라는 10%의 인구가 60세 이상인 이른바 고령사회에 접어들었다. 노인 인구의 증가로 인해 노인이 여가생활 또는 일반생활을 보조하기 위한 보행 보조기에 대한 관심이 증가되고 있다. 대부분 동력이 없는 보행보조기를 사용하고 있으며 이러한 기구는 경사로 공간 또는 힘이 약한 노인들에게 취약성을 가지고 있다. 이에 동력형 보행보조로봇에 관심이 증가하고 있다. 동력형 보행보조로봇 역시 경사로에 있어서 편리성과 안전성을 높이기 위한 연구가 필요한 실정이다. 이에 본 논문에서는 보행보조로봇이 경사로에 진입 하였을 경우 기울어진 경사로의 정도를 인식하여 모터를 제어 한다. TILT 센서를 이용하여 기울이짐 정도를 측정 하였고, 또한 로봇의 전류 실시간으로 체크하여 로봇의 안전성을 향상 하였다. 제어 시스템 구성은 사용자의 보행의지를 파악하기위해 FSR 센서를 부착하여 조향장치로 사용하였으며, 경사로를 인식하기 위해 Liquid 타입의 TILT 센서를 사용하였으며, 모션 제어를 위해 DSP를 사용하였다. 본 제어 시스템을 보조보행로봇에 적용하였을 때, 보행보조로봇이 오르막 경사로에 진입시 기존보다 힘을 적게 사용하여 경사로를 진행하였으며, 경사로에서 브레이크 작동속도가 향상 되었다. 또한 내리막 경사로에서는 모터의 힘을 적게 사용하고 중력의 힘을 사용하여 이를 통해 전류의 소비량을 개선 하였다.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.10 no.4
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• pp.77-82
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• 2010

In this paper, a haptic fishing robot, Fishbot, for a Virtual Fishing System is presented. Fishbot is 3DOF robot and it consists of a XY table and a wheel motor. To simulate the motion of fish, XY table is controlled by position servo drivers with variable torque constraint, and wheel axis is controlled by torque servo driver. Finally, Fishibot detects the end point of fishing pole with cameras to recognize the pose of user, and it can interface with a Virtual Reality System.

• Journal of the Society of Naval Architects of Korea
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• v.49 no.5
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• pp.400-409
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• 2012

It is not easy to know the accurate mass and mass moment of inertia of robot. Because of this uncertainty, error may exist when we control the robot based on the inaccurate mass information. Moreover the properties of the portable robot can change during its operation. Therefore we developed the motion simulator based on the adaptive control. First, the computed torque control was carried out in order to minimize an error between target angles and real angles. The computed torque control is based on the equation of robot motion, which is derived from the Lagrange-Euler equation. To minimize the error between the real model and the approximated model, the adaptive control was carried out. During this simulation, the interference check was also carried out. The interference check verifies that the robot can move successfully without any collision.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2013.10a
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• pp.841-844
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• 2013

This paper suggests methods to drive motor and dsPIC30F2010 microprocessor software design for the Wheel Hub Motor that is incorporated into a hub of the wheel and drives it directly. The minimum function of dsPIC30F2010, system clock, PWM, I/O, communication, applicable to hub motor control are explained and tested. The algorithm including PI control method was implemented to the system by using dsPIC30F2010 microprocessor functions.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.17 no.3
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• pp.25-31
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• 2003

In this paper, proposed is a control system for a galvanometer which is widely used fer laser display, laser processing and marking systems. The galvanometer with mirror is modeled as a second-order dynamic system Based on frequency responses and time domain responses of the developed model, a conventional PID controller is designed And it is implemented using a DSP(TMS320C32) chip with precision A/D and D/A converters. Through frequency response and experimental results, it is convinced that the proposed control system works well in real environment. Furthermore it is very easy to be connected to any PC because of USB communication port, and the cost of the marking system can be lowered very much because the DSP do the all the jobs for generating font motion as well as controlling the galvanometer.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.5
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• pp.640-647
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• 2007

This paper presents a joint controller for a humanoid robot based on genetic algorithm. h humanoid robot has basically instability during walking because it isn't fixed on the ground. Moreover nonlinearities of the joints increase its instability. If one of them isn't satisfied, the robot may fall down at the ground during walking. To attack one of those problems, joint controller is proposed. It can perform tracking control preciously and reduce the effect of nonlinearities by gear, limitation of the input voltage, coulomb friction and so on. This controller is based on fuzzy-sliding mode controller (FSMC) and compensator and control gains are searched by a proposed genetic algorithm. It can reduce the effect by nonlinearities. Also, to improve the tracking performance, the proposed controller has motion controller. From the given controller, a humanoid robot can moved more preciously. Here, all the processes are investigated through simulations and it is verified experimentally in a real joint system for a humanoid robot.

• The KIPS Transactions:PartB
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• v.13B no.2 s.105
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• pp.105-114
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• 2006

In ubiquitous environment where various kinds of computers are embedded in persons, objects and environment and they are interconnected and can be used in my place as necessary, different types of data need to be exchanged between heterogeneous machines through home network. In the environment, the efficient processing, transmission and monitoring of image data are essential technologies. We need to make research not only on traditional image processing such as spatial and visual resolution, color expression and methods of measuring image quality but also on transmission rate on home network that has a limited bandwidth. The present study proposes a new motion vector estimation algorithm for transmitting, processing and controlling image data, which is the core part of contents in home network situation and, using algorithm, implements a real time monitoring system of multi dimensional images transmitted from multiple cameras. Image data of stereo cameras to be transmitted in different environment in angle, distance, etc. are preprocessed through reduction, magnification, shift or correction, and compressed and sent using the proposed metamorphosis hierarchical motion vector estimation algorithm for the correction of motion. The proposed algorithm adopts advantages and complements disadvantages of existing motion vector estimation algorithms such as whole range search, three stage search and hierarchical search, and estimates efficiently the motion of images with high variation of brightness using an atypical small size macro block. The proposed metamorphosis hierarchical motion vector estimation algorithm and implemented image systems can be utilized in various ways in ubiquitous environment.