• Journal of Ocean Engineering and Technology
• /
• v.19 no.3
• /
• pp.66-73
• /
• 2005

The sway motion control problem of a container hanging on the trolley is considered in this paper. In the container crane control problem, the main issue involves suppressing the residual swing motion of the container at the end of acceleration, during deceleration, or for an unexpected disturbance input. For this problem, in general, many trolley motion control strategies are introduced and applied. In this paper, we introduce and synthesize a swing motion control system, in which a small auxiliary mass is installed on the spreader. In this control system, the actuator reacting against the auxiliary mass applies inertial control forces to the container to reduce the swing motion in the desired manner. In many studies, the controllers used to suppress the vibration have been synthesized for the given mathematical model of plants. In many cases, the designers have not been able to utilize the degree of freedom to adjust the structural parameters for the control object. To overcome this problem, so called "Structure/Control Simultaneous Method" is used. From this, in this paper the simultaneous design method is used to achieve optimal system performance. And the experimental result shows that the proposed control strategy is useful, to the case of that the controlled system is exposed to the uncertainties and, robust to disturbances like wind.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.38 no.4
• /
• pp.345-354
• /
• 2014

In this paper, we propose a real-time algorithm for estimating the relative position and velocity of a person with respect to a robot using a Kinect sensor and an extended Kalman filter (EKF). Additionally, we propose an algorithm for controlling the robot in the proximity of a person in a variety of modes. The algorithm detects the head and shoulder regions of the person using a histogram of oriented gradients (HOG) and a support vector machine (SVM). The EKF algorithm estimates the relative positions and velocities of the person with respect to the robot using data acquired by a Kinect sensor. We tested the various modes of proximity movement for a human in indoor situations. The accuracy of the algorithm was verified using a motion capture system.

• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.8
• /
• pp.753-757
• /
• 2015

This paper introduces an experimental rescue robot, HUBO T-100 and presents the optimal motion control method. The objective of the rescue robot is to extract patients or wounded soldiers in the battlefield and hazardous environments. Another mission is to dispose and transport an explosive ordnance to safe places. To execute these missions, the upper body of the rescue robot is humanoid in form to execute various kinds of tasks. The lower body features a hybrid tracked/legged design, which allows for a variety of mode of locomotion, depending on terrain conditions in order to increase traversability. The weight lifting motion is one of the most important task for performing rescue related missions because the robot must lift an object or impaired person lying on the ground for transferring. Here, dynamics based motion optimization is employed to minimize joint torques while maintaining stability simultaneously. Physical experiments with a real humanoid robot, HUBO T-100, are presented to verify the proposed method.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2016.05a
• /
• pp.791-793
• /
• 2016

In the development of various types of sensor technology, the general users smartphone, the environment is increased, which can be seen in contact with the movement recognition device, such as a console game machine (Nintendo Wii), an increase in the user needs of the action recognition-based input device there is a tendency to have. Mouse existing behavior recognition, attached to the outside, is mounted in the form of mouse button is deformed, the left mouse was the role of the right button and a wheel, an acceleration sensor (or a gyro sensor) inside to, plays the role of a mouse cursor, is to manufacture a compact, there is a difficulty in operating the button, to apply a motion recognition technology is used to operate recognition technology only pointing cursor is limited. Therefore, in this paper, using a MEMS-based motion-les Koguni tion sensor (Motion Recognition Sensor), to recognize the behavior of the two points of the human body (thumb and forefinger), to generate the motion data, and this to the foundation, compared to the pre-determined matching table (moving and mouse button events cursor), and generates a control signal by determining, were studied the generated control signal input device of the computer wirelessly transmitting.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.20 no.11
• /
• pp.2162-2166
• /
• 2016

This paper describes the implementation of AUSV system for sonar image acquisition to survey the seabed. The system is controlled by Feed Forward PID algorithm on the vessel for bearing of the thrusters composed of motion sensor and DGPS which calculates the differences between the current location and the destination location for longitude and latitude based on GPS coordinates. As experimental results, the bearing control performance is good that the error distance from the destination positions are under 6m in total survey track of 1km. And the sonar image deviation of a object is under 12 pixels from the manned survey method, which the comparison with the total image quality is almost the same as the manned survey one. Thus the proposed AUSV system is a new method of system can be utilized at the limited survey areas as the surveyor should not be able to approach on sea surface by onboard vessel.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.14 no.9
• /
• pp.4130-4135
• /
• 2013

This paper is a special-purpose machine studies for processing various patterns on the surface of the stone. We have developed a special-purpose machine that can be applied in various patterns upon the surface treatment of the stone with the water jet. The special-purpose machine is Configured of Transfer mechanism, motion controller, multi-nozzle mechanism, ultra high pressure water control system and S/W. We conducted a performance evaluation experiments of the pattern. We have developed a special-purpose machine with a precision of machining error ${\pm}0.5mm$ and pattern processing of various types.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2009.05a
• /
• pp.627-630
• /
• 2009

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. The exact behavior will be used to make a essential equipment. Finally the development of the Nano Driving Multi Sensor, Nano of Surveillance System Driving Precision Pan-Tilt/Gimbal optimal design and production, 3-aix Gyro Sensor based with Servo Motion Control algorithm development, Image trace video software and hardware tracking the development is organized and discuss in details. The development of the equipment and the system integration are fully experimented and verified.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2016.10a
• /
• pp.942-943
• /
• 2016

Stereo gamma ray detection system generates a two-dimensional image of the gamma ray by using the position values and the gamma ray signal. And the device will overlap with the visible light image shows the actual distribution of the gamma-ray space. The gamma ray detection device is a stereo configuration to a motion controller for controlling the signal measurement unit and the position detection portion for detecting the detection portion and the gamma-ray signal comprising a gamma-ray detection sensor. In this paper, we developed a system operation management algorithm for each module individually configured efficiently. We confirmed the imaged and distribution information output for the gamma rays from gamma-ray irradiation test site by using these results.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.21 no.1
• /
• pp.95-101
• /
• 2022

This paper proposes a method to process the shape of an optical transmission road and attempts to determine the most suitable single processing method for an acrylic plate optical transmission road. In addition, by manufacturing an automatic pattern processing device to generate certain shapes on the acrylic plate at regular intervals, and measuring the illuminance of the patterned acrylic plate optical transmission road, the measured illuminance was confirmed to fall under the KS illuminance values presented in Table 1. In conclusion, when an incident light of approximately 20,000 lx is applied, the transmission illumination is approximately 200 lx, which represents a transmission rate of approximately 1% for incident light and corresponds to the KS illumination criterion F. Additionally, the right-angle triangular pyramid base size (A) processed at a temperature of 350 ℃ for one second was 2 mm, exhibiting the largest transmission illumination of 280 lx. When the transparent acrylic plate was set to a constant size of 1.6 mm at the bottom of the right-angle triangular pyramid, the fastest response occurred at a processing tip temperature of 350 ℃ (0.04 s). On the other hand, it took 10 s to process the size of the bottom of the right-angled triangular pyramid at a temperature of 200 ℃ to 1.6 mm, and it was confirmed that the optical transmission efficiency was significantly reduced because of the burr that occurred at this time.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.17 no.6
• /
• pp.1089-1094
• /
• 2022

In this paper, a human coexistence-type companion robot that can communicate with people in daily life and alleviate the gap in care personnel was studied. Based on the voice recognition module, servo motor, and Arduino board, a companion robot equipped with a robot arm control function using voice recognition, a position movement function using RC cars, and a voice recognition function was tested and manufactured. As a result of the experiment, the speech recognition experiment according to distance showed the optimal recognition rate at a distance of 5 to 30 cm, and the speech recognition experiment according to gender showed a higher recognition rate in the first tone, monotonous tone. Through the evaluation results of these motion experiments, it was confirmed that a companion robot could be made.