• Smart Media Journal
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• v.8 no.1
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• pp.51-58
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• 2019

This paper describes a gesture application to controlling the special effects of physical devices for 4D contents using the PWM (Pulse Width Modulation) method. The user operation recognized by the infrared sensor is interpreted as a command for 3D content control, several of which manipulate the device that generates the special effect to display the physical stimulus to the user. With the content controlled under the NUI (Natural User Interface) technique, the user can be directly put into an immersion experience, which leads to provision of the higher degree of interest and attention. In order to measure the efficiency of the proposed method, we implemented a PWM-based real-time linear control system that manages the parameters of the motion recognition and animation controller using the infrared sensor and transmits the event.

• Proceedings of the Korean Society of Computer Information Conference
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• 2016.07a
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• pp.235-236
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• 2016

본 연구에서는 고 성능 마이크로프로세서를 이용한 공기조형물의 관절 구동과 센서의 환경 인식에 능동적으로 대처할 수 있는 시스템을 연구하였다. 객체기반의 공기조형물용 모션제어 시스템은 단일 제어기로의 역할보다 시스템 구성요소로서의 역할이 매우 중요해지므로 시스템 전체의 제어기로 확장시켜 사용하는 방향으로 전환되어야 한다. 본 연구에서는 시스템의 구동과 환경에 능동적으로 대처할 수 있는 객체기반 공기조형물을 연구하였다. 모터제어 방법에 있어 CAN(Controller Area Network) 네트워크를 방식을 통하여 제어를 수행하는 분산제어방식으로 수행하였다. CAN방식은 모션제어 시스템에 도입하여 주 제어기가 하위 제어기에 네트워크를 통하여 명령을 내리며 하위제어기는 주어진 위치 및 속도명령에 대하여 분산적으로 제어를 수행하였다. 따라서 CAN방식을 사용하여 각 제어기의 독립성과 처리속도를 증대시키고 공기조형물의 기능별 확장이 용이하도록 구성하였다. 제어기의 환경은 시스템을 총체적으로 조화롭게 제어할 수 있는 시스템으로의 역할이 중요시되어 이에 맞도록 설계방안을 연구하였다.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2004.04a
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• pp.418-421
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• 2004

생체 모방 공학이란 자연의 생명체가 보여 주는 행동이나 구조, 그들이 만들어 내는 물질등을 연구해 모방함으로써 인간 생활에 적용하려는 기술이다 본 논문은 이러한 모방 공학에서 비롯되어 생물학적 뱀이 가지고 있는 특징 중 자유로운 이동 모션이나 좁은 공간을 유연하게 통과하는 성질을 로봇에 응용한다. 연구 목표로서 먼저 뱀의 가장 큰 특징인 사인 파형의 이동모션 원리와 동작방법에 대해 설명하며 실험과 시뮬레이션을 통해 실천 가능성을 검증한다 또한 자율 이동시 센서를 이용 장애물을 회피하며 PDA를 제어기로 사용하여 Snake Robot를 제어한다.

• The Journal of the Korea institute of electronic communication sciences
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• v.12 no.6
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• pp.1127-1134
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• 2017

In this study, the robot arm control system was implemented that is operated by human hands, which can be used in environments that are inaccessible to humans. This function has to be sent to the robot's arms after extracting coordinates of human hands. Through mapping and bluetooth communication we use a leap motion sensor with infrared light and Image recognition sensor.

• Proceedings of the Korea Information Processing Society Conference
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• 2013.11a
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• pp.1649-1652
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• 2013

최근 정보기술의 발전에 가속화되면서 기존의 키보드나 마우스 같은 전통적인 제어장치들과는 달리 새로운 하드웨어 인터페이스들이 등장하고, 그에 따른 새로운 시각에서의 제어 방법들 등장하고 있다. 본 논문에서는 Leap Motion이라는 새로운 하드웨어 인터페이스를 사용할 때 제공되는 단순한 위치 정보만 쓰는 것이 아니라 어떠한 위치에 있는지, 특정 동작을 취했을 때 모션 등과 같은 정보들도 함께 사용하기 위해 손과 손가락을 인식할 수 있도록 모션 인식방법을 제안하고, 제안된 기술을 기반으로 3D Avatar를 제어 및 편집 후 애니메이션을 만들어 공유할 수 있는 모션제어 저작SW를 개발하였다. 본 기술은 의료, 게임, 교육 등 다양한 분야에서 새로운 제어 기술로서 활용될 수 있으며, 기존의 공간 터치 기술과는 다른 장점을 제공할 것으로 예상된다.

• Aerospace Engineering and Technology
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• v.3 no.1
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• pp.170-178
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• 2004

This paper deals with six degree-of-freedom HILS(hardware-in-the-loop-simulation) of KSR-III rocket using a TAFMS(three axis flight motion simulator). This TAFMS HILS test is accomplished before main HILS tests in order to verify the control stability in the presence of TAFMS dynamic effects. The TAFMS HILS test includes initial attitude holding tests for INS initial alignment procedures, timer synchronization tests with an auxiliary lift-off signal, real-time calibration tests using an external thermal recorder, open-loop TAFMS operating tests, and final closed-loop TAFMS HILS tests using the TAFMS attitude measurements as inputs to the closed control loop. The HILS tests are accomplished for several flight conditions composed with nominal flight condition, TWD effect added condition, slosh modes and/or bending modes existing condition, and windy condition, etc.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.47 no.5
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• pp.326-334
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• 2019

Development of Small UAV using HILS (Hardware In the Loop Simulation) can be effectively used to improve the reliability of UAV (Unmanned Aerial Vehicle) while reducing cost and time. It is also possible to reduce the damage to people or property by simulating the malfunction of the Flight Control Computer (FCC) that may occur during the actual flight. For applying such HILS, a real-time simulation environment capable of providing an environment similar to an actual flight condition is required. In this paper, we constructed a real - time HILS environment for Small UAV using 6 D.O.F motion table. In order to link the 6 D.O.F motion table developed in the previous research with the HILS environment in real time, the motion algorithm was changed from the position control method to the velocity control method. Also, we implemented modeling of inverse kinematics model for command transmission in Matlab $Simulink^{(R)}$ and verified the action of motion table according to the simulation model.

• ICROS
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• v.10 no.5
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• pp.18-21
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• 2004

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.11
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• pp.554-560
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• 2020

In the manufacturing process of flat panel displays, a high-precision planar motion stage is used to position a specimen. Stages of this type typically use frictionless linear motors and air bearings, and laser interferometers. Real-time dynamic correction of the yaw motion error is very important because the inevitable yaw motion error of the stage means a change in the specimen orientation. Gantry control is generally used to compensate for yaw motion errors. Flexure units that allow rotational motion are applied to the stage to apply this method to a stage using an air-bearing guide. This paper proposes a method to improve the constant speed motion performance of a H-type XY stage equipped with air bearing and flexure units. When applying the gantry control to the stage, including the flexure units, the cause of the mutual ripple generated from the linear motors is analyzed, and adaptive learning control is proposed to compensate for the mutual ripple. A simulation was performed to verify the proposed method. The speed ripple was reduced to approximately the 22 % level. The ripple reduction was verified by simulating the stage state where yaw motion error occurs.

• 한국HCI학회:학술대회논문집
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• 2008.02a
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• pp.420-425
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• 2008

The technique for synthesizing reactive motion in real-time is important in many applications such as computer games and virtual reality. This paper presents a dynamic motion control technique for creating reactive motions in a physically based character animation system. The leg to move in the next step is chosen using the direction of external disturbance forces and states of human figures and then is lifted though joint PD control. We decide the target position of the foot to balance the body without leg cross. Finally, control mechanism is used to generate reactive motion. The advantage of our method is that it is possible to generate reactive animations without example motions.